Robotic Surgical Devices, Systems, and Related Methods

ABSTRACT

The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims the benefit under 35 U.S.C. §119(e) to U.S.Provisional Application 62/200,563, filed Aug. 3, 2015 and entitled“Robotic Surgical Devices, Systems, and Related Methods,” which ishereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The embodiments disclosed herein relate to various medical devices andrelated components, including robotic and/or in vivo medical devices andrelated components. Certain embodiments include various robotic medicaldevices, including robotic devices that are disposed within a bodycavity and positioned using a support component disposed through anorifice or opening in the body cavity. Other embodiments relate tovarious systems that have a robotic surgical device and a controller,wherein the device has one or more sensors and the controller has one ormore motors such that the sensors transmit information that is used atthe controller to actuate the motors to provide haptic feedback to auser.

BACKGROUND OF THE INVENTION

Invasive surgical procedures are essential for addressing variousmedical conditions. When possible, minimally invasive procedures such aslaparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy arelimited in scope and complexity due in part to 1) mobility restrictionsresulting from using rigid tools inserted through access ports, and 2)limited visual feedback. Known robotic systems such as the da Vinci®Surgical System (available from Intuitive Surgical, Inc., located inSunnyvale, Calif.) are also restricted by the access ports, as well ashaving the additional disadvantages of being very large, very expensive,unavailable in most hospitals, and having limited sensory and mobilitycapabilities.

There is a need in the art for improved surgical methods, systems, anddevices.

BRIEF SUMMARY OF THE INVENTION

Discussed herein are various robotic surgical systems, including certainsystems having camera lumens configured to receive various camerasystems. Further embodiments relate to surgical insertion devicesconfigured to be used to insert various surgical devices into a cavityof a patient while maintaining insufflations of the cavity.

A system of one or more computers can be configured to performparticular operations or actions by virtue of having software, firmware,hardware, or a combination of them installed on the system that inoperation causes or cause the system to perform the actions. One or morecomputer programs can be configured to perform particular operations oractions by virtue of including instructions that, when executed by dataprocessing apparatus, cause the apparatus to perform the actions.

In one Example, a robotic surgical system, including a robotic surgicaldevice including a device body including a distal end; a proximal end,and a camera lumen defined within the device body, the camera lumenincluding (1) a proximal lumen opening in the proximal end of the devicebody; (2) a socket portion defined distally of the proximal lumenopening, the socket portion including a first diameter and a firstcoupling component; (3) an extended portion defined distally of thesocket portion, the extended portion having a second, smaller diameter;and (4) a distal lumen opening in the distal end of the device body, thedistal lumen opening defined at a distal end of the extended portion;first and second shoulder joints operably coupled to the distal end ofthe device body; a first robotic arm operably coupled to the firstshoulder joint; and a second robotic arm operably coupled to the secondshoulder joint; and a camera component, including a handle including adistal end configured to be positionable within the socket portion; asecond coupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion; an elongate tube operably coupled to the handle, wherethe elongate tube is configured and sized to be positionable through theextended portion, the elongate tube including a rigid section; anoptical section; and a flexible section operably coupling the opticalsection to the rigid section, where the elongate tube has a length suchthat at least the optical section is configured to extend distally fromthe distal lumen opening when the camera component is positioned throughthe camera lumen. Other embodiments of this aspect include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations may include one or more of the following features. Therobotic surgical system where the camera lumen further includes a sealportion defined distally of the socket portion and proximally of theextended portion. The robotic surgical system where the seal section isconfigured to receive a ring seal and a one-way seal. The roboticsurgical system where the seal section is further configured to receivea retention component, where the ring seal is retained within thering-seal retention component. The robotic surgical system where thering-seal retention component includes at least one protrusion extendingfrom an outer wall of the ring-seal retention component. The roboticsurgical system where the socket portion further includes a channeldefined in an inner wall of the socket portion, where the channel isconfigured to receive the at least one protrusion. The robotic surgicalsystem where the handle includes a controller configured to operate thecamera component. The robotic surgical system where the distal lumenopening is positioned between the first and second shoulder joints. Therobotic surgical system where the optical section is configured to betiltable at the flexible section in relation to the rigid section, wherethe optical section has a straight configuration and a tiltedconfiguration. The robotic surgical system where the elongate tube isconfigured to be rotatable in relation to the handle. The roboticsurgical system where the socket portion further includes an inner wallincluding a channel configured to receive an insertion device. Therobotic surgical system where the camera lumen includes a proximal lumenopening in the proximal end of the device body; a socket portion defineddistally of the proximal lumen opening, the socket portion including afirst diameter and a first coupling component; an extended portiondefined distally of the socket portion, the extended portion having asecond, smaller diameter; and a distal lumen opening in the distal endof the device body, the distal lumen opening defined at a distal end ofthe extended portion. The robotic surgical system where the firstrobotic arm further includes a first arm upper arm; a first arm elbowjoint; and a first arm lower arm, where the first arm upper arm isconfigured to be capable of roll, pitch and yaw relative to the firstshoulder joint and the first arm lower arm is configured to be capableof yaw relative to the first arm upper arm by way of the first arm elbowjoint. The surgical robotic system where the first robotic arm furtherincludes at least one first arm actuator disposed within the firstrobotic arm. The robotic surgical system where the second robotic armfurther includes a second arm upper arm; a second arm elbow joint; and asecond arm lower arm, where the second arm upper arm is configured to becapable of roll, pitch and yaw relative to the second shoulder joint andthe second arm lower arm is configured to be capable of yaw relative tothe second arm upper arm by way of the second arm elbow joint. Thesurgical robotic system where the second robotic arm further includes atleast one second arm actuator disposed within the second robotic arm.The surgical robotic system including a handle including a distal endconfigured to be positionable within the socket portion; and a secondcoupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion. The surgical robotic system further including at leastone PCB disposed within at least one of the first or second robotic armsand in operational communication with at least one of the first roboticarm and second robotic arm, where the PCB is configured to perform yawand pitch functions. Implementations of the described techniques mayinclude hardware, a method or process, or computer software on acomputer-accessible medium.

In one Example, a robotic surgical system, including a robotic surgicaldevice including a device body including a distal end; a proximal end,and a camera lumen defined within the device body; first and secondshoulder joints operably coupled to the distal end of the device body; afirst robotic arm operably coupled to the first shoulder joint; and asecond robotic arm operably coupled to the second shoulder joint; and acamera component, including a handle including a distal end configuredto be positionable within the socket portion; a second couplingcomponent configured to releasably couple with the first couplingcomponent, thereby releasably locking the handle into the socketportion; an elongate tube operably coupled to the handle, where theelongate tube is configured and sized to be positionable through theextended portion, the elongate tube including a rigid section; anoptical section; and a flexible section operably coupling the opticalsection to the rigid section, where the elongate tube has a length suchthat at least the optical section is configured to extend distally fromthe distal lumen opening when the camera component is positioned throughthe camera lumen. Other embodiments of this aspect include correspondingcomputer systems, apparatus, and computer programs recorded on one ormore computer storage devices, each configured to perform the actions ofthe methods.

Implementations may include one or more of the following features. Therobotic surgical system where the camera lumen includes a proximal lumenopening in the proximal end of the device body; a socket portion defineddistally of the proximal lumen opening, the socket portion including afirst diameter and a first coupling component; an extended portiondefined distally of the socket portion, the extended portion having asecond, smaller diameter; and a distal lumen opening in the distal endof the device body, the distal lumen opening defined at a distal end ofthe extended portion. The robotic surgical system where the firstrobotic arm further includes a first arm upper arm; a first arm elbowjoint; and a first arm lower arm, where the first arm upper arm isconfigured to be capable of roll, pitch and yaw relative to the firstshoulder joint and the first arm lower arm is configured to be capableof yaw relative to the first arm upper arm by way of the first arm elbowjoint. The surgical robotic system where the first robotic arm furtherincludes at least one first arm actuator disposed within the firstrobotic arm. The robotic surgical system where the second robotic armfurther includes a second arm upper arm; a second arm elbow joint; and asecond arm lower arm, where the second arm upper arm is configured to becapable of roll, pitch and yaw relative to the second shoulder joint andthe second arm lower arm is configured to be capable of yaw relative tothe second arm upper arm by way of the second arm elbow joint. Thesurgical robotic system where the second robotic arm further includes atleast one second arm actuator disposed within the second robotic arm.The surgical robotic system including a handle including a distal endconfigured to be positionable within the socket portion; and a secondcoupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion. The surgical robotic system further including at leastone PCB disposed within at least one of the first or second robotic armsand in operational communication with at least one of the first roboticarm and second robotic arm, where the PCB is configured to perform yawand pitch functions. Implementations of the described techniques mayinclude hardware, a method or process, or computer software on acomputer-accessible medium.

In one Example, a robotic surgical system, including a robotic surgicaldevice including a device body including a distal end; a proximal end,and a camera lumen defined within the device body, the camera lumenincluding (1) a proximal lumen opening in the proximal end of the devicebody; (2) a socket portion defined distally of the proximal lumenopening, the socket portion including a first diameter and a firstcoupling component; (3) an extended portion defined distally of thesocket portion, the extended portion having a second, smaller diameter;and (4) a distal lumen opening in the distal end of the device body, thedistal lumen opening defined at a distal end of the extended portion;first and second shoulder joints operably coupled to the distal end ofthe device body; a first robotic arm operably coupled to the firstshoulder joint; and a second robotic arm operably coupled to the secondshoulder joint; and a camera component, including an elongate tubeoperably coupled to the handle, where the elongate tube is configuredand sized to be positionable through the extended portion, the elongatetube including a rigid section; an optical section; and a flexiblesection operably coupling the optical section to the rigid section,where the elongate tube has a length such that at least the opticalsection is configured to extend distally from the distal lumen openingwhen the camera component is positioned through the camera lumen. Otherembodiments of this aspect include corresponding computer systems,apparatus, and computer programs recorded on one or more computerstorage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. Thesurgical robotic system including a handle including a distal endconfigured to be positionable within the socket portion; and a secondcoupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion. The surgical robotic system further including at leastone PCB disposed within at least one of the first or second robotic armsand in operational communication with at least one of the first roboticarm and second robotic arm, where the PCB is configured to perform yawand pitch functions. Implementations of the described techniques mayinclude hardware, a method or process, or computer software on acomputer-accessible medium.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. As will be realized, theinvention is capable of modifications in various obvious aspects, allwithout departing from the spirit and scope of the present invention.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a front view of a robotic surgical device according to oneembodiment.

FIG. 1B is perspective front view of the device of FIG. 1A.

FIG. 1C is a side view of the device of FIG. 1A.

FIG. 1D is an end view of the device of FIG. 1A.

FIG. 1E is a further front view of the device of FIG. 1A, without thecamera component.

FIG. 1F is a further side view of the device of FIG. 1A, without thecamera component.

FIG. 1G is a front view of the camera component, according to theembodiment of FIG. 1A.

FIG. 2A is a perspective view of the proximal end of a robotic surgicaldevice according to one embodiment.

FIG. 2B is a rotated perspective view of the device of FIG. 2A.

FIG. 2C is a cutaway view of the proximal end of the device of FIG. 2A.

FIG. 3A is a perspective front view of a seal insertion componentaccording to one embodiment.

FIG. 3B is a close-up view of the distal end of the insertion componentof FIG. 3A without seals.

FIG. 3C is a close-up view of the distal end of the insertion componentof FIG. 3A showing the O-ring carrier.

FIG. 3D is a perspective view of the insertion component of FIG. 3Aabove a robotic device body.

FIG. 3E is a perspective cutaway view of the embodiment of FIG. 3D.

FIG. 4A is an end view of a camera component according to oneembodiment.

FIG. 4B is a side view of the embodiment of FIG. 4A, in a “down”configuration.

FIG. 4C is a side view of the embodiment of FIG. 4A, in an “up”configuration.

FIG. 4D is a three-quarters rotated view of the embodiment of FIG. 4C.

FIG. 4E is an end view of a camera component showing the internalcomponents, according to one embodiment.

FIG. 4F is a front view of the embodiment of FIG. 4E, in an “up”configuration.

FIG. 4G is a side view of the embodiment of FIG. 4A, in an “up”configuration.

FIG. 4H is a three-quarters rotated view of the embodiment of FIG. 4G.

FIG. 5A is a cutaway side view of the proximal end of a camera componentinserted into a robotic surgical device according to one embodiment.

FIG. 5B is a further close-up cutaway side view of the embodiment ofFIG. 5A.

FIG. 5C is a side view of the internal components of a camera componentaccording to one embodiment.

FIG. 5D is a further internal side view of the embodiment of FIG. 5C.

FIG. 5E is a perspective view of the embodiment of FIG. 50.

FIG. 5F is a perspective internal view of a camera component insertedinto a robotic surgical device according to one embodiment.

FIG. 5G is a further perspective internal view of the embodiment of FIG.5F.

FIG. 6A is a side view of the internal components of a camera componentaccording to one embodiment.

FIG. 6B is a perspective internal view of the internal components of acamera component according to one embodiment.

FIG. 6C is a side internal view of the internal components of a cameracomponent according to the embodiment of FIG. 6B.

FIG. 6D is a internal front view of the internal components of a cameracomponent according to the embodiment of FIG. 6B.

FIG. 6E is a perspective internal view of a camera component insertedinto a robotic surgical device according to one embodiment.

FIG. 7A is a perspective internal view of the distal end of the cameracomponent according to one embodiment.

FIG. 7B is a perspective internal view of the distal end of the cameracomponent according to another embodiment.

FIG. 7C is a schematic flow of camera information from a lens to asurgical console, according to one embodiment.

FIG. 8A is an internal front view of the device body without a housing,according to one embodiment.

FIG. 8B is a side view of the embodiment of FIG. 8A.

FIG. 8C is a perspective view of the embodiment of FIG. 8A.

FIG. 8D is an end view of the embodiment of FIG. 8A.

FIG. 8E is a rear three-quarters perspective view of the device bodywithout a housing, according to one embodiment.

FIG. 8F is a side view of the embodiment of FIG. 8E.

FIG. 8G is a front three-quarters perspective view of the embodiment ofFIG. 8E with the housing.

FIG. 9A is an internal front view of the device body showing theinternal components without a housing or support structures, accordingto one embodiment.

FIG. 9B is a perspective view of certain yaw components of theembodiment of FIG. 9A.

FIG. 9C is a perspective view of certain pitch components of theembodiment of FIG. 9A.

FIG. 10 is a perspective view of a robotic arm having six degrees offreedom according to one embodiment.

FIG. 11A is a side view of an upper robotic arm without its housingaccording to one embodiment.

FIG. 11B is a rotated side view of the embodiment of FIG. 11A.

FIG. 11C is yet another rotated side view of the embodiment of FIG. 11A.

FIG. 11D is an end view of the embodiment of FIG. 11A.

FIG. 11E is a perspective view of an upper robotic arm according to oneembodiment.

FIG. 11F is a rotated perspective view of the embodiment of FIG. 11E,without the housing.

FIG. 12A is a further rotated view of the embodiment of FIG. 11E.

FIG. 12B is another internal view of the components of an upper roboticarm according to one embodiment.

FIG. 12C is a perspective view of certain yaw components of theembodiment of FIG. 12B.

FIG. 12D is a perspective view of certain pitch components of theembodiment of FIG. 12B.

FIG. 13A is a perspective view of a lower robotic arm according to oneembodiment.

FIG. 13B is a reverse perspective view of the embodiment of FIG. 13A,without the housing.

FIG. 13C is a side view of a lower robotic arm without its housingaccording to one embodiment.

FIG. 13D is a rotated side view of the embodiment of FIG. 13C.

FIG. 13E is yet another rotated side view of the embodiment of FIG. 13C.

FIG. 13F is an end view of the embodiment of FIG. 13C.

FIG. 13A is a perspective view of the embodiment of FIG. 13C.

FIG. 14A is another internal view of the components of a lower roboticarm according to one embodiment.

FIG. 14B is a perspective view of certain roll components of theembodiment of FIG. 14A.

FIG. 14C is a perspective view of certain end effector interactioncoupling components of the embodiment of FIG. 14A.

FIG. 14D is a cross-sectional side view of a forearm, according to oneembodiment.

FIG. 14E is a cutaway perspective side view of a forearm, according toone embodiment.

FIG. 14F is cross-sectional side view of a forearm, according to oneembodiment.

FIG. 15A is a perspective view of an end effector, according to oneembodiment.

FIG. 15B is a perspective view of an end effector, according to oneembodiment.

FIG. 16A is a schematic view of a monopolar cautery connection,according to one embodiment.

FIG. 16B is a schematic view of a bipolar cauter connection, accordingto one embodiment.

FIG. 17A is top view of one implementation of the device within asleeve, according to one embodiment.

FIG. 17B is a side perspective view of the arms of the device disposedwithin sleeves, according to one embodiment.

FIG. 18A is a perspective view of one implementation of the devicewithin a sleeve, according to one embodiment.

FIG. 18B is an up-close view of the implementation of FIG. 18A.

FIG. 18C is a rotated up-close view of the implementation of FIG. 18A,without the end effectors shown.

FIG. 19A is a perspective view of one implementation of the devicewithin a sleeve, according to another embodiment.

FIG. 19B is an up-close view of the implementation of FIG. 19A.

FIG. 19C is a rotated, cross-sectional up-close view of theimplementation of FIG. 19A.

FIG. 20A is a perspective view of a device arm inside a sleeve and in anextended position, according to one embodiment.

FIG. 20B is a perspective view of the embodiment of FIG. 20A in a bentposition.

FIG. 21A is a front view of a device arm having a semi-rigid slideguide, according to one embodiment.

FIG. 21B is a side view of the implementation of FIG. 21A in a bentposition.

FIG. 21C is a side view of the implementation of FIG. 21A in a furtherbent position.

FIG. 22A is a front view of a sleeve having an “outer box” pleat,according to one implementation.

FIG. 22B is a front view of a sleeve having an “inner box” pleat,according to one implementation.

FIG. 22C is a front view of a “bent” sleeve, according to oneimplementation.

FIG. 23A is a perspective view of a disposable sleeve having an adhesivestrip, according to one implementation.

FIG. 23B is a side view of a disposable sleeve having an adhesive strip,according to another implementation.

FIG. 23C is a further side view of a disposable sleeve, according to oneimplementation.

FIG. 24A is a perspective cutaway view of a side of the device and thedevice port prior to insertion of the device, according to oneimplementation.

FIG. 24B is a perspective cutaway view of the device of FIG. 24Aimmediately following insertion.

FIG. 24C is a further perspective cutaway view of the device of FIG. 24Afollowing insertion, where the device has been tilted.

FIG. 24D is a further perspective cutaway view of the device of FIG. 24Afollowing insertion, where the device has been rotated.

FIG. 25A is a side cross-sectional view of a device port, according toone implementation.

FIG. 25B is a top view of the port of FIG. 25A.

FIG. 25C is a front view of one device implementation attached to arobot support arm, according to one implementation.

FIG. 26A is a schematic view of one implementation of a robotic surgicaldevice and operations system.

FIG. 26B is a front view of a surgical console, according to oneimplementation.

FIG. 26C is a side view of the surgical console of FIG. 26B.

FIG. 26D is a perspective view of the surgical console of FIG. 26B.

FIG. 26E is a top view of the foot controllers of the surgical consoleof FIG. 26B.

FIG. 27A is a screen view of a graphical user interface on the console,according to one implementation.

FIG. 27B is a screen view of another graphical user interface on theconsole, according to one implementation.

FIG. 27C is a screen view of yet another graphical user interface on theconsole, according to one implementation.

FIG. 28A is a schematic view of the workspace of one arm of a roboticdevice, according to one implementation.

FIG. 28B is a further schematic view of the workspace of one arm of arobotic device, according to one implementation.

FIG. 28C is yet a further schematic view of the workspace of one arm ofa robotic device, according to one implementation.

FIG. 28D is schematic depiction of system and device operation,according to one implementation.

FIG. 29A is an end view of the hand controller limits in the hapticfeedback system, according to on implementation.

FIG. 29B is a side view of the limits of FIG. 29A.

FIG. 29C is a top view of the limits of FIG. 29A.

FIG. 29D is a side view of the limits of FIG. 29A, showing the systemdisposed within those limits.

FIG. 30A is a perspective view of a hand controller, according to oneimplementation.

FIG. 30B is a cutaway view of the hand controller of FIG. 30A.

DETAILED DESCRIPTION

The various systems and devices disclosed herein relate to devices foruse in medical procedures and systems. More specifically, variousembodiments relate to various medical devices, including robotic devicesand related methods and systems.

It is understood that the various embodiments of robotic devices andrelated methods and systems disclosed herein can be incorporated into orused with any other known medical devices, systems, and methods.

It is understood that the various embodiments of robotic devices andrelated methods and systems disclosed herein can be incorporated into orused with any other known medical devices, systems, and methods. Forexample, the various embodiments disclosed herein may be incorporatedinto or used with any of the medical devices and systems disclosed inU.S. Pat. No. 8,968,332 (issued on Mar. 3, 2015 and entitled“Magnetically Coupleable Robotic Devices and Related Methods”), U.S.Pat. No. 8,834,488 (issued on Sep. 16, 2014 and entitled “MagneticallyCoupleable Surgical Robotic Devices and Related Methods”), U.S. patentapplication Ser. No. 14/617,232 (filed on Feb. 9, 2015 and entitled“Robotic Surgical Devices and Related Methods”), U.S. patent applicationSer. No. 11/966,741 (filed on Dec. 28, 2007 and entitled “Methods,Systems, and Devices for Surgical Visualization and DeviceManipulation”), U.S. Patent Application 61/030,588 (filed on Feb. 22,2008), U.S. Pat. No. 8,343,171 (issued on Jan. 1, 2013 and entitled“Methods and Systems of Actuation in Robotic Devices”), U.S. Pat. No.8,828,024 (issued on Sep. 9, 2014 and entitled “Methods and Systems ofActuation in Robotic Devices”), U.S. patent application Ser. No.14/454,035 (filed Aug. 7, 2014 and entitled “Methods and Systems ofActuation in Robotic Devices”), U.S. patent application Ser. No.12/192,663 (filed Aug. 15, 2008 and entitled Medical Inflation,Attachment, and Delivery Devices and Related Methods”), U.S. patentapplication Ser. No. 15/018,530 (filed Feb. 8, 2016 and entitled“Medical Inflation, Attachment, and Delivery Devices and RelatedMethods”), U.S. Pat. No. 8,974,440 (issued on Mar. 10, 2015 and entitled“Modular and Cooperative Medical Devices and Related Systems andMethods”), U.S. Pat. No. 8,679,096 (issued on Mar. 25, 2014 and entitled“Multifunctional Operational Component for Robotic Devices”), U.S. Pat.No. 9,179,981 (issued on Nov. 10, 2015 and entitled “MultifunctionalOperational Component for Robotic Devices”), U.S. patent applicationSer. No. 14/936,234 (filed on Nov. 9, 2015 and entitled “MultifunctionalOperational Component for Robotic Devices”), U.S. Pat. No. 8,894,633(issued on Nov. 25, 2014 and entitled “Modular and Cooperative MedicalDevices and Related Systems and Methods”), U.S. Pat. No. 8,968,267(issued on Mar. 3, 2015 and entitled “Methods and Systems for Handlingor Delivering Materials for Natural Orifice Surgery”), U.S. Pat. No.9,060,781 (issued on Jun. 23, 2015 and entitled “Methods, Systems, andDevices Relating to Surgical End Effectors”), U.S. patent applicationSer. No. 14/745,487 (filed on Jun. 22, 2015 and entitled “Methods,Systems, and Devices Relating to Surgical End Effectors”), U.S. Pat. No.9,089,353 (issued on Jul. 28, 2015 and entitled “Robotic SurgicalDevices, Systems, and Related Methods”), U.S. patent application Ser.No. 14/800,423 (filed on Jul. 15, 2015 and entitled “Robotic SurgicalDevices, Systems, and Related Methods”), U.S. patent application Ser.No. 13/573,849 (filed Oct. 9, 2012 and entitled “Robotic SurgicalDevices, Systems, and Related Methods”), U.S. patent application Ser.No. 13/738,706 (filed Jan. 10, 2013 and entitled “Methods, Systems, andDevices for Surgical Access and Insertion”), U.S. patent applicationSer. No. 13/833,605 (filed Mar. 15, 2013 and entitled “Robotic SurgicalDevices, Systems, and Related Methods”), U.S. patent application Ser.No. 14/661,465 (filed Mar. 18, 2015 and entitled “Methods, Systems, andDevices for Surgical Access and Insertion”), Ser. No. 13/839,422 (filedMar. 15, 2013 and entitled “Single Site Robotic Devices and RelatedSystems and Methods”), U.S. Pat. No. 9,010,214 (issued on Apr. 21, 2015and entitled “Local Control Robotic Surgical Devices and RelatedMethods”), U.S. patent application Ser. No. 14/656,109 (filed on Mar.12, 2015 and entitled “Local Control Robotic Surgical Devices andRelated Methods”), U.S. patent application Ser. No. 14/208,515 (filedMar. 13, 2014 and entitled “Methods, Systems, and Devices Relating toRobotic Surgical Devices, End Effectors, and Controllers”), U.S. patentapplication Ser. No. 14/210,934 (filed Mar. 14, 2014 and entitled“Methods, Systems, and Devices Relating to Force Control SurgicalSystems), U.S. patent application Ser. No. 14/212,686 (filed Mar. 14,2014 and entitled “Robotic Surgical Devices, Systems, and RelatedMethods”), U.S. patent application Ser. No. 14/334,383 (filed Jul. 17,2014 and entitled “Robotic Surgical Devices, Systems, and RelatedMethods”), U.S. patent application Ser. No. 14/853,477 (filed Sep. 14,2015 and entitled “Quick-Release End Effectors and Related Systems andMethods”), U.S. patent application Ser. No. 14/938,667 (filed Nov. 11,2015 and entitled “Robotic Device with Compact Joint Design and RelatedSystems and Methods”), and U.S. Patent Application 62/338,375 (filed May18, 2016 and entitled “Robotic Surgical Devices, Systems, and RelatedMethods”), and U.S. Pat. No. 7,492,116 (filed on Oct. 31, 2007 andentitled “Robot for Surgical Applications”), U.S. Pat. No. 7,772,796(filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”),and U.S. Pat. No. 8,179,073 (issued May 15, 2011, and entitled “RoboticDevices with Agent Delivery Components and Related Methods”), all ofwhich are hereby incorporated herein by reference in their entireties.

Certain device and system implementations disclosed in the applicationslisted above can be positioned within a body cavity of a patient incombination with a support component similar to those disclosed herein.An “in vivo device” as used herein means any device that can bepositioned, operated, or controlled at least in part by a user whilebeing positioned within a body cavity of a patient, including any devicethat is coupled to a support component such as a rod or other suchcomponent that is disposed through an opening or orifice of the bodycavity, also including any device positioned substantially against oradjacent to a wall of a body cavity of a patient, further including anysuch device that is internally actuated (having no external source ofmotive force), and additionally including any device that may be usedlaparoscopically or endoscopically during a surgical procedure. As usedherein, the terms “robot,” and “robotic device” shall refer to anydevice that can perform a task either automatically or in response to acommand.

Certain embodiments provide for insertion of the present invention intothe cavity while maintaining sufficient insufflation of the cavity.Further embodiments minimize the physical contact of the surgeon orsurgical users with the present invention during the insertion process.Other implementations enhance the safety of the insertion process forthe patient and the present invention. For example, some embodimentsprovide visualization of the present invention as it is being insertedinto the patient's cavity to ensure that no damaging contact occursbetween the system/device and the patient. In addition, certainembodiments allow for minimization of the incision size/length. Furtherimplementations reduce the complexity of the access/insertion procedureand/or the steps required for the procedure. Other embodiments relate todevices that have minimal profiles, minimal size, or are generallyminimal in function and appearance to enhance ease of handling and use.

Certain implementations disclosed herein relate to “combination” or“modular” medical devices that can be assembled in a variety ofconfigurations. For purposes of this application, both “combinationdevice” and “modular device” shall mean any medical device havingmodular or interchangeable components that can be arranged in a varietyof different configurations. The modular components and combinationdevices disclosed herein also include segmented triangular orquadrangular-shaped combination devices. These devices, which are madeup of modular components (also referred to herein as “segments”) thatare connected to create the triangular or quadrangular configuration,can provide leverage and/or stability during use while also providingfor substantial payload space within the device that can be used forlarger components or more operational components. As with the variouscombination devices disclosed and discussed above, according to oneembodiment these triangular or quadrangular devices can be positionedinside the body cavity of a patient in the same fashion as those devicesdiscussed and disclosed above.

Certain embodiments disclosed or contemplated herein can be used forcolon resection, a surgical procedure performed to treat patients withlower gastrointestinal diseases such as diverticulitis, Crohn's disease,inflammatory bowel disease and colon cancer. Approximately two-thirds ofknown colon resection procedures are performed via a completely opensurgical procedure involving an 8- to 12-inch incision and up to sixweeks of recovery time. Because of the complicated nature of theprocedure, existing robot-assisted surgical devices are rarely used forcolon resection surgeries, and manual laparoscopic approaches are onlyused in one-third of cases. In contrast, the various implementationsdisclosed herein can be used in a minimally invasive approach to avariety of procedures that are typically performed ‘open’ by knowntechnologies, with the potential to improve clinical outcomes and healthcare costs. Further, the various implementations disclosed herein can beused for any laparoscopic surgical procedure in place of the knownmainframe-like laparoscopic surgical robots that reach into the bodyfrom outside the patient. That is, the less-invasive robotic systems,methods, and devices disclosed herein feature small, self-containedsurgical devices that are inserted in their entireties through a singleincision in the patient's abdomen. Designed to utilize existing toolsand techniques familiar to surgeons, the devices disclosed herein willnot require a dedicated operating room or specialized infrastructure,and, because of their much smaller size, are expected to besignificantly less expensive than existing robotic alternatives forlaparoscopic surgery. Due to these technological advances, the variousembodiments herein could enable a minimally invasive approach toprocedures performed in open surgery today.

As shown in FIGS. 1A-1G, certain exemplary embodiments relate to adevice 10 having a body 12 with two arms 14, 16 operably coupled theretoand a camera component 18 positionable therein. That is, device 10 has afirst (or “right”) arm 14 and a second (or “left) arm 16, both of whichare operably coupled to the body 12 as discussed in additional detailbelow. The body 12 as shown has a casing (also referred to as a “cover”or “enclosure”) 20. The body 12 is also referred to as a “device body”20 and has two rotatable cylindrical components (also referred to as“housings” and “turrets”): a first (or “right”) housing 22 and a second(or “left”) housing 24. Each arm 14, 16 also has an upper arm (alsoreferred to herein as an “inner arm,” “inner arm assembly,” “innerlink,” “inner link assembly,” “upper arm assembly,” “first link,” or“first link assembly”) 14A, 16A, and a forearm (also referred to hereinas an “outer arm,” “outer arm assembly,” “outer link,” “outer linkassembly,” “forearm assembly,” “second link,” or “second link assembly”)14B, 16B. The right upper arm 14A is operably coupled to the righthousing 22 of the body 12 at the right shoulder joint 26 and the leftupper arm 16A is operably coupled to the left housing 24 of the body 12at the left shoulder joint 28. Further, for each arm 14, 16, the forearm14B, 16B is rotatably coupled to the upper arm 14A, 16A at the elbowjoint 14C, 16C.

In the exemplary implementation as shown, each of the arms 14,16 alsohas an end effector 30, 32 operably coupled to the distal end of theforearm 14B, 16B. An end effector can also be referred to herein as an“operational component,” and various embodiments will be discussedherein below in further detail.

In one implementation, each of the arms 14, 16 has six degrees offreedom. That is, as explained in further detail below, each arm 14, 16has three degrees of freedom at the shoulder joint 26, 28, one degree offreedom at the elbow joint 14C, 16C, and two degrees of freedom at theend effector 30, 32 (which can be, in certain embodiments, rotated—endeffector roll—and opened/closed). As such, the six degrees of freedom ofeach arm 14, 16 are analogous to the degrees of freedom of a human arm,which also has three degrees of freedom at the shoulder and one at theelbow. One advantage of an arm having four degrees of freedom (with anend effector having two degrees of freedom) is that the end effector canhave multiple orientations at the same Cartesian point. This addeddexterity allows the surgeon or other user more freedom and a moreintuitive sense of control while operating the device.

The camera component 18, as shown in FIG. 1G in accordance with oneembodiment, is easily insertable into and removable from the body 12. Asshown, the camera component 18 has a handle 40, a camera body or tube42, a distal tube end 18A having a camera lens 48, and two shoulders 44,46 defined at the distal end of the handle 40. That is, the firstshoulder 44 has a first diameter and the second shoulder 46 has a seconddiameter that is larger than the first diameter.

According to one embodiment, FIGS. 2A, 2B, and 2C depict the proximalend of the device body 12 having sealed electrical connections orconnectors 50, 52, a support rod 54, a latch 56 and a head 58 with anopening 60 defined in the body 12. As discussed in relation to FIGS.25A-C herein, in these implementations, the support rod is configured tobe attached to the support arm to dispose the device for use.

In various implementations, the electrical connectors 50, 52 can providerobot power and bus communications required for robot functionality,including power and communications connectors, bipolar cauteryconnectors and monopolar cautery connectors, such as LEMO® push-pullcircular connectors. In certain implementations, three connectors can beprovided. In the implementation of FIGS. 2A-C, the first electricalconnector 50 is configured to send and receive robot power and buscommunications and the second electrical connector 52 is configured forcombined cautary mono- and bi-polar connectivity. Alternatively, thethree connectors may be combined into a single integrate customconnector, In yet a further alternative, and as shown in FIGS. 3D-F, asingle cable 53 integrated directly into the robot can be provided. Itis understood that a sealed, strain relieved cable egress location wouldthen exist in this location instead of the connectors 50, 52.

According to these implementations, the opening 60 is in fluidcommunication with a lumen 62 that is defined through the length of thebody 12. The lumen 62 is configured to receive the camera component 18and has a receiving portion (also referred to herein as a “socketportion” or “socket”) 62A, a seal portion 62B, and an extended portion62C.

In certain implementations, the socket portion 62A is configured to be“tight fitting,” that is, it is configured to mate with the cameracomponent 18 handle 40 to react or resist all loads or prevent allrotational and translational motion. In various implementations, thelatch 56 is disposed within the socket portion 62A so as to be capableof coupling to the clasping portion 72 of the camera component 18.

In various implementations, a seal or seals 63A, 63B are provided in theseal portion 62B, so as to maintain a fluidic seal around the camera 18as it is disposed in the lumen 62. The seal portion 62B is distal inrelation to the receiving portion 62A and is configured to house a sealor seals 63A, 63B against the wall 68 of the lumen 62, as is describedin relation to FIGS. 2C-3F.

In the implementation depicted in FIGS. 2C and 3A-F, the device utilizesa first seal 63A that is a one-way duckbill seal, though it isunderstood that various other one-way seals can be used in alternateembodiments. In these implementations, a second seal 63B—which can be anO-ring carrier seal—is also disposed proximally to the first seal 63A.As shown in FIGS. 3A and 3C-F, in various implementations, the O-ringcarrier seal 63B comprises an O-ring 65 configured to urge the firstseal 63A distally. It is understood that in various implementations, theO-ring can provide a seal against the camera component 18, while theO-ring carrier seal 63A can provide a seal against the lumen 62A againstthe escape of gasses or fluids as described herein.

As described below, in these implementations, when the seals areinstalled, the O-ring carrier seal 63B compresses on the lip 63A1 of thefirst seal 63A, thereby creating a seal against the inner wall of thehousing (shown at 67). The use of first and second seals 63A, 63B incertain implementations provides certain advantages described herein. Insituations when the camera component 18 is not present, the pressurefrom the abdominal cavity will cause the one-way duck bill seal 63A toclose and prevent the loss of that pressure. In situations where thecamera present, the camera and tube 42 will cause duck bill seal 63A tobe open and allow passage into the lumen 62, while the O-ring 65 andO-ring carrier seal 63A will seal against the rigid camera tube 42 andlumen 62, respectively, to maintain cavity pressure. It is understoodthat further implementations are of course possible.

As shown in FIGS. 3A-F, in various implementations, an elongateinsertion component 15 is provided, which allows the insertion andremoval of the seal or seals 63A, 63B for replacement and/or cleaning.As is shown in FIGS. 3A-C, the insertion component 15 can have a sealcoupling ring 13 with mounting projections 13A, 13B configured to mateto a seal such as the O-ring carrier seal 63B and maintain therotational position of the seal while it is being disposed in the lumen62. In various implementations, ridges 17 can also be provided to securethe seal in place. Returning to FIG. 2C, the distal end of the receivingportion 62A is defined by a shoulder 64 that is configured to receivethe insertion component 15. At least one channel 66 is defined in aportion of the shoulder 64 and the lumen 62 as shown and is configuredto receive a corresponding protrusion or protrusions 67A, 67B disposedon the O-ring carrier seal 63B such that the protrusion or protrusions67A, 67B can be positioned in and slid along the channel 66, therebyallowing for the seals 63A, 63B to be place and locked into position inthe lumen 62. The insertion component 15 can subsequently be removed,such that the seals 63A, 63B are contained within the lumen 62 for use.

More specifically, the channel 66 is defined in the lumen 62 with alongitudinal length 66A and a radial length 66B. In certainimplementations, the channel 66 is tapered along the longitudinal length66A. As such, a protrusion 67A is positioned in the longitudinal length66A and the insertion component 15 is advanced distally until theprotrusion 67A reaches the end of the longitudinal length 66A. At thispoint, the insertion component 15 can be rotated around its longitudinalaxis such that the protrusion 67A is advanced along the radial length66B. As shown in FIG. 3B, the mounting projections 13A, 13B can preventthe rotation of the O-ring seal 63B relative to the insertion component15 during this rotation. Further the rigid O-ring 65 provides sufficientdistal force against the first seal 63A such that it is fixed into placeas a result of this rotation and locking. The resulting coupling of theseals 63A, 63B within the lumen is a mechanical coupling that issufficiently strong for a user to pass the camera component 18 throughthe seals 63A, 63B for use without dislodging the seals 63A, 63B.

FIGS. 4A-H depict an exemplary implementation of the camera component18. The camera component 18 in this specific implementation isconfigured to be removably incorporated into a robotic device body 12,as is shown in FIGS. 1A-B. More specifically, the camera component 18 isconfigured to be removably positioned through the lumen 62 defined inthe device body 12 such that the camera component 18 is inserted throughthe proximal opening 60, receiving portion into the receiving portion62A, through the seal portion 62B and seal or seals 63A, 63B, and intothe extended portion 62C such that a distal portion of the cameracomponent 18A and camera lens 48 protrudes from the distal opening 60A(as best shown in FIG. 1A).

As shown in FIGS. 4A-H, this camera component 18 embodiment has acontroller (also referred to as a “handle”) 40 and an elongate component(also referred to herein as a “tube”) 42 operably coupled at itsproximal end to the handle 40. As best shown in FIG. 4C, the tube 42 hasa rigid section 42A, a flexible section 42B, and an optical section 42C.As such, in these implementations the camera component has two degreesof freedom: pan (left and right rotation) and tilt, meaning looking “upand down” in the surgical workspace. Further discussion of these degreesof freedom can be found in relation to FIG. 10.

In one embodiment, the handle 40 is configured to contain localelectronics for video transmission, along with actuators and associatedmechanisms (as are best shown in relation to FIG. 4H) for actuating panand tilt functionality of the tube 42. It is understood that the localelectronics, actuators, and associated mechanisms can be known, standardcomponents. In a further implementation, the handle 40 can also containa light engine. Alternatively, the light engine can be a separatecomponent, and a light cable can operably couple the light engine to thehandle.

According to one implementation, the rigid section 42A of the tube 42 issubstantially rigid and contains appropriate wires and optical fibers asnecessary to operably couple to the optical component in the opticalsection 42C to the handle 40. The substantial rigidity of the rigidsection 42A allows for easy manipulation of the tube 42, including easyinsertion into the lumen 62.

The flexible section 42B, in accordance with one embodiment, isconfigured to allow for movement of the optical section 42C between astraight configuration in FIG. 4B and a tilted configuration as shown inFIG. 4C, or any position in between. The optical section 42C issubstantially rigid, much like the rigid section 42A, and contains theoptical element, along with appropriate local electronics.

Accordingly, various implementations of the camera component 18 of thisimplementation have two mechanical degrees of freedom: pan (lookleft/right) and tilt (look up/down). In use, the camera component 18 haspan and tilt functionality powered and controlled by the actuators andelectronics in the handle 40. In various implementations, the handle 40further comprises a button 70 and camera clasp 72 configured to matewith the latch 56, as is shown in further detail in FIGS. 5A-D.

The tilt functionality relates to tilting the optical section 42C suchthat the camera 48 is oriented into the desired workspace, as isdiscussed further in relation to FIGS. 24A-D. This tilting can beaccomplished via a cable that is operably coupled to the flexiblesection 42B or the optical section 42C such that actuation of the cablecauses the optical section 42C to tilt by bending the flexible section42B as shown for example in FIG. 4C and FIGS. 7A-B. Alternatively thistilt function can be achieved by any other known mechanism or method forbending the tube 42 at the flexible section 42B.

As shown in the implementations of FIGS. 5A-7B, the camera component 18houses several internal electrical and mechanical components capable ofoperation and movement of the camera 48, tube 42 and other operativecomponents. In various implementations, the camera component 18 has apresence sensing system configured to detect the insertion of thecomponent 18 into the lumen 62. Further, to prevent damage, in certainembodiments, the camera component 18 is configured to provide a“mechanical lockout,” such that the camera component 18 cannot beremoved unless the tube 42 is in the “straight” (tilt=0°) configuration.

As discussed above, FIGS. 5A-B depict an implementation of the device 10where the camera component 18 has been inserted into the lumen 62 of thebody 12. In these implementations, following the placement of the seals63A, 63B in the seal portion 62B (as described in relation to FIGS.3A-F), the camera component 18 can be inserted into the lumen 62 and thelatch 56 engaged.

As shown in FIG. 5C, in certain implementations, the camera component 18comprises a light guide post 74, an actuation connector 76 and/or a coaxconnector 78. In various implementations, the light guide post 74facilitates the transference of light from an external light generatorto the fiber optics in the camera. An actuation connector 76 can providepower and communications functions such as robotic and camera power andcommunications functions discussed below in relation to FIGS. 26-29D. Invarious implementations, the coax connector 78 can provide additionalfunctionality, such as transmission of video signal, as is describedherein in relation to FIGS. 7C and 26A. In various implementations, thefiber optic cable 80 is in operational and luminary communication withthe light guide post and extends distally into the lumen (not shown).Further, a communications line 82 extends with the fiber optic cable 80in these implementations, as is discussed further in relation to FIGS.5E-F.

The implementation of FIGS. 5C-E depicts one implementation of thecamera component 18 having a mechanical lockout. In certain of theseimplementations, depressing the handle button 70 can activate there-orientation of the tube 42 into the straight orientation, so as toallow for removal of the camera component when tilt=0°. In thisimplementation, the camera clasp 72 is disposed on a clasping member 84which also comprises the button 70, such that depressing the button 70results in the pivoting of the clasping member around a clasp pivot 86that is rotationally coupled to the camera housing (not shown), suchthat a plunger 88 disposed adjacent to the clasping member so as to becapable of being urged inward in response to the actuation of the button70.

In various implementations, the plunger 88 end 88A is aligned with aslot 90A in the lead screw nut 90, which is linearly translated inresponse to camera tilt, as is described in further detail below. Inthese implementations, slot 90A and plunger 88 alignment only occurswhen the camera tube 42 is in the “straight” orientation. In theseimplementations, the plunger is also fixedly attached to a trigger arm92, such that when the arm is displaced—even slightly—the arm triggers alimit switch 94, initiating a “go-straight” subroutine, therebystraightening the camera. It is understood that the length of plunger 88in these implementations is such that it is unable to enter the slot 90Awhen the camera is tilted (as described below in relation to FIGS.5E-6D, so that that clasp 72 will not disengage from the robot when slot90A is not aligned.

It is understood that in certain implementations, the “go-straight”subroutine is triggered in response to the actuation of the button 70,regardless of whether the plunger end 88A enters the slot 90A. In theseimplementations, and as best shown in FIG. 5E, the space between thenon-slotted portions (shown generally at 91) of the lead screw nut 90and the plunger end 88A is less than the distance of the overlap betweenthe clasp 72A and latch edges 56A (shown in FIG. 5B), thereby preventingunclasping. In these implementations, the distance between the triggerarm 92 and limit switch 94 is also less than the distance between thespace between the non-slotted portions (shown generally at 91) of thelead screw nut 90 and the plunger end 88A, such that the limit switch 94will be actuated in response to the actuation of the button 70 whetheror not the plunger end 88A enters the slot 90A. In certainimplmentations, an actuator spring 96 is operationally coupled to theplunger 88 to urge the plunger outward, thereby keeping the clasp 72 andbutton 70 tensioned when not in use.

As best shown in the implementation of FIG. 5E-G, camera tilt is drivenby a tilt actuator 100 disposed within the handle 40. The tilt actuator100 in these implementations can be a 6 mm Maxon BLDC motor, or othersuch actuator. In these implementations, the tilt actuator 100 iscapable of causing translational movement in the lead screw nut 90. Inthese implementations, the tilt actuator 100 drives a planetary gearheadand spur gear 102, which is coupled to a drive gear 104. In theseimplementations, the drive gear 104 is in rotational communication withthe lead screw 106. In these implementations, rotation of the lead screw106 within the lead screw nut 90 causes translational motion of the leadscrew nut 90 and optionally a cable coupler assembly 108 fixedlyattached to the lead screw nut 90 exterior. It is understood that inthese implementations the lead screw nut 90 is rotationally coupled, butlinearly decoupled, from the pan shaft 112, such that rotation of leadscrew 106 causes linear translation of lead screw nut 90. In variousimplementations, an actuation cable (best shown at 120A, 120B in FIGS.5F-G) is fixedly coupled to coupler assembly 108 such that translationof the lead screw nut 90 and cable coupler assembly 108 causes tiltactuation to occur.

As shown in FIGS. 5F-G, In various implementations, tilt functionalitycan be accomplished via the following configuration. In this embodiment,the flexible section 42B includes an elbow joint 124 and a pair of tiltcables 120A, 120B, wherein each of the tilt cables 120A, 120B isoperably coupled at its distal end to the optical section 42C. Invarious implementations, and as shown, the cables 120A, 120B comprise ateflon sheathing 120C, 120D. In these implementations, the sheathingscan remain static, while the cables 120A, 120B disposed within are ableto slide relative to the sheathing as described generally herein.

The first tilt cable 120A is depicted in FIG. 5F-G is an active tiltcable 120A that is coupled on one side of the optical section 42C inrelation to the joint 124 as shown such that urging the cable 120Aproximally causes the optical section 42C to tilt upward on that side,as is designated by reference arrow C. The second tilt cable 120B is apassive tilt cable 120B that is coupled on the other side of the opticalsection 42C in relation to the joint 124 and the first title cable 120A.The second tilt cable 120B is not actuated by a user. Instead, thesecond tilt cable 120B is maintained at a predetermined level of tensionby a passive spring 122 such that the cable 120B is continuously urgedin the proximal direction, thereby urging the optical section 42C into astraight configuration such as that shown in FIG. 4B.

As such, in this implementation of FIGS. 5F-G, the default position ofthe optical section 42C will be the straight configuration. That is, thetensioned passive tilt cable 120B causes the optical section 42C to bein the straight configuration when no forces are being applied to theactive tilt cable 120A by the cable coupler assembly 108. A user cancause proximal movement of the cable coupler assembly 108 through thelead screw nut, as described above, causing the active title cable 120Ato be urged proximally to tilt the optical section 42C. In response toother activities, such as depressing the button 70, the cable 120A canbe caused to allow the section 42C to return to the straightconfiguration by way of the spring 122 and return cable 120B. Thestraight configuration of FIG. 4B makes it easy to position the cameracomponent 18 into the lumen 62 and further to remove the cameracomponent 18 from the lumen 62 as well. In use, a user can urge theactive cable 120A proximally to tilt the optical section 42C asdesired/needed. In alternative embodiments, the system can have anactuation button (or other type of user interface) (not shown) that canbe configured to actuate the system to move to the straightconfiguration, thereby facilitating easy insertion and/or removal.

The pan functionality is accomplished via rotation of the tube 42 aroundthe longitudinal axis of the tube 42 as shown by arrow D in FIG. 5G-F.The rigid section 42A, the flexible section 42B, and the optical section42C of the tube (not shown) are coupled together such that the sections42A, 42B, 42C cannot rotate in relation to each other. In other words,the sections 42A, 42B, 42C rotate together as a single unit. The tube42, however, is rotatably coupled to the handle 40 such that the tube 42can rotate as shown by arrow D in relation to the handle 40. As aresult, the panning functionality is provided by positioning the opticalsection 42C in a tilted configuration (such as the configuration of FIG.5F) and rotating the tube 42 in relation to the handle 40. This resultsin the optical component in the optical section 42C being rotated aroundthe tube 42 axis such that it can potentially capture images up to andincluding 360° around the camera component 18. In certainimplementations, pan is limited to smaller ranges, such as 100°, such asby way of a hard stop 133, as shown in FIGS. 6A-B. In theseimplementations, the hard stop 33 rotates with the tube 42 and tube head137 (or lead screw 106), while the tube housing 135 (or lead screw nut90) maintains a fixed position, thereby limiting the range of tube 42motion, as the hard stop 133 is unable to rotate through the tubehousing 135. A hard stop opening 133A can also be provided in the tubehead 137, as is shown in FIG. 6A. It is understood that in certainimplementations, the limiting of pan range is done because of wireservice loops.

As such, in the implementation of FIGS. 5F-6E, pan functionality isperformed by way of a pan actuator 130 disposed within the handle 40,which is best shown in FIG. 6A. The pan actuator 130 in theseimplementations can be a 6 mm Maxon BLDC motor, or other such actuator.In these implementations, the pan actuator 130 is capable of causingrotational movement in the tube 42. In these implementations, the panactuator 130 drives a planetary gearhead and spur gear 132, which iscoupled to a drive gear 134. In these implementations, the drive gear134 is in rotational communication with the pan shaft 112, which in turnis in rotational communication with the tube 42. It is understood thatin these implementations the pan shaft 112 is rotationally coupled tothe tube 42, such that rotation of the pan shaft 112 causes rotation ofthe entire tube 42, including the optical portion 42C, thus resulting inpan functionality. FIGS. 6B-D depict further implementations of theinternal components of the camera handle 40, showing the pan actuator130 and tilt actuator 100 disposed within the handle housing (notshown).

In these implementations, the pan assembly (generally at 128) has aground slot 136 (which does not rotate) and a pan shaft slot 138 (whichrotates), both being configured such that wires (not shown) may passthrough the slots 136, 138 safely and not be damaged during panactuation.

For example, as is shown in FIG. 6E, the image sensorpower/communication lines 82 and the fiber optic illumination cable 80are routed over a support 140 and pass through the slots 136, 138 in theto enter the camera tube 42 and extend to the lens 48. At least onehandle rigid-flex PCB component, or “PCB” 142 is also provided tocontrol various the camera handle functions, such as tilt and pan. It isunderstood that in certain implementations, a third degree of freedom isattainable with digital (software) based zoom.

FIGS. 7A and 7B depict various internal views of the flexible section42B and distal camera components.

The implementation of FIG. 7A has a camera lens 48 which contains astack 48A of lenses configured to optimize, among other parameters,field of view (such as approximately 90 degrees) and depth of field(approximately 1″ to 6″ focal range). A plurality of fiber optic lights160 are also disposed in a lens housing 162. As is shown in FIGS. 7A-B,in various implementations, these fiber optics 160A, 160B, 160C can bedisposed on opposite sides of the lens 48 (FIG. 7B) or radially aroundand/or “under” the lens 48 (FIG. 7A). These fiber optics 160A, 160B,160C are in luminary communication with the fiber optic cable or cables80A, 80B extending down from the handle, as discussed above, for examplein relation to FIG. 6F.

In the implementation of FIGS. 7A-B, an image sensor 164 (such as anOmniVision 22720 IC, capable of 1080p @ 30 fps) is disposed behind thelens stack 48A on flex tape 166. In these implementations, the imagesensor 164 or sensors outputs data in a MIPI format through the flextape 166, which is in turn threaded through the flexible portion 42B.The flex tape 166 terminates at a termination point 166A into a rigidPCB 168 at the distal end of the camera tube (not shown). It isunderstood that the flexible tube portion 42B in the implementation ofFIG. 7A comprises a plurality of articulating members 170A, 170B, 170C,as has been previously described, though other implementations arepossible.

In various embodiments, and as shown generally in FIG. 7C, the sensorimage signal (box 170) from the flex tape 166 is converted in the camera(box 171) from MIPI to LVDS by an FPGA (box 172) on the PCB 168. In anexemplary implementation, this LVDS signal is then transmitted throughthe internal camera harness, through the connector on the camera handle,through the 5 camera pigtail, through a connector pair, through a 20′harness, through a panel mount connector on the surgeon console, throughthe surgeon console internal harness to a panel mount connector on theCCU (camera control unit—box 173), through the internal CCU harness,into the daughter card.

In the implementation of FIG. 7C, the CCU (box 173) translates the LVDSsignal to parallel data (boxes 174 and 175), then to an HDMI output. TheHDMI output is routed to the surgeon console computer (box 176) to anonboard video processing card (box 177). In various implementations, thevideo processing card (box 177) mixes the camera feed with GUI overlays(box 178), such that the mixed signal can be passed to the main monitor(box 179) on the surgeon console (box 176) where it is viewed. Thissignal is also mirrored on an HDMI output on the surgeon consoleconnector panel, where it may be routed to an auxiliary monitor. It isunderstood that there are many different signaling protocals that may beused. In one example, the rigid PCB 168 at the distal end of the rigidtube 42 may convert the MIPI data to serial data instead and transmitthe serialized signal along a coaxial cable back to the CCU. In anotherexample, the video processing card (box 177) and GUI overlays (box 178)may be omitted, and the video signal may be routed directly from the CCUto the main display. In a further example, the video signal may bemirrored from the main display (box 179) instead of (or in addition to)the surgeon console connector panel.

FIGS. 8A-G and 9A-D according to one embodiment, depict the internalcomponents of the body 12, which is shown in these figures without itscasing 20. FIGS. 9B-C depict the right half of the body 12 and theinternal components that control/actuate the right arm 14A. It isunderstood that the internal components in the left half (not shown)that operate/control/actuate the left arm 14B are substantially the sameas those depicted and described herein and that the descriptionsprovided below apply equally to those components as well.

FIGS. 8A-G include the internal structural or support components of thebody 12. In one implementation, the body 12 has an internal top cap 200and an internal support shell 202 as shown. These components maintainthe structure of the body 12 and provide structural support for thecomponents disposed therein. FIG. 8D is an enlarged view of the distalend of the body 12.

In contrast to FIGS. 8A-D, FIGS. 9B-C depict the internal actuation andcontrol components of the body 12 with the internal structural orsupport components hidden in order to better display the internalactuation and control components. These internal actuation and controlcomponents are configured to provide two degrees of freedom at theshoulder joint 26, 28.

In one embodiment, certain of the internal components depicted in FIGS.9A-C are configured to actuate rotation at the shoulder joint 26, 28around axis A (as best shown in FIG. 9A), which is parallel to thelongitudinal axis of the body 12. This rotation around axis A is alsoreferred to as “yaw” or “shoulder yaw.” The rotation, in one aspect, iscreated as follows. A yaw actuator 204 is provided that is, in thisimplementation, a yaw motor assembly. The yaw motor assembly 204 isoperably coupled to the yaw motor gear 206, which is coupled to thedriven gear 208 such that rotation of the yaw motor gear 206 causesrotation of the driven gear 208. The driven gear 208 is fixedly coupledto a transmission shaft 210, which has a transmission gear 212 at theopposite end of the shaft 210.

The transmission gear 212 is coupled to a driven gear 214, which isfixedly coupled to the shaft 216. A magnet holder 218 containing amagnet is also operably coupled to the transmission gear 212. The holder218 and magnet are operably coupled to a magnetic encoder (not shown).It is understood that the magnet holder 218, magnet, and magneticencoder (and those similar components as discussed elsewhere herein inrelation to other joints) are components of an absolute position sensorthat is the same as or substantially similar to one or more of theabsolute position sensors disclosed in U.S. Provisional Application61/680,809, filed on Aug. 8, 2012, which is hereby incorporated hereinby reference in its entirety. The shaft 216 is fixedly coupled at itsdistal end to a rotatable pitch housing 220 (as best shown in FIGS.9A-B) such that rotation of the driven gear 214 causes rotation of theshaft 216 and thus rotation of the housing 220 around axis A as shown inFIG. 8B and FIG. 9B (this is also shown in FIG. 10 at axis Z₁).

According to one implementation, certain other internal componentsdepicted in FIG. 9C are configured to actuate rotation of the shoulderjoint 26, 28 around axis B (as best shown in FIGS. 8C and 9C), which isperpendicular to the longitudinal axis of the body 12. This rotationaround axis B is also referred to as “pitch” or “shoulder pitch.” Therotation, in one embodiment, is created as follows. A pitch actuator 230is provided that is, in this implementation, a pitch motor assembly 230.The pitch motor assembly 230 is operably coupled to a motor gear 232,which is coupled to the driven gear 234 such that rotation of the motorgear 232 causes rotation of the driven gear 234. The driven gear 234 isfixedly coupled to a transmission shaft 236, which has a transmissiongear 238 at the opposite end of the shaft 236. The transmission gear 238is coupled to a driven gear 240, which is fixedly coupled to the shaft242. A magnet holder 244 containing a magnet is also operably coupled tothe driven gear 240. The holder 244 and magnet are operably coupled to amagnetic encoder (not shown). As best shown in FIG. 9B-C, a portion ofthe shaft 242 is disposed within the lumen 216A of the shaft 216described above and extends out of the distal end of the shaft 216 intothe housing 220. As best shown in FIG. 9C, the distal end of the shaft242 is coupled to a rotation gear 244 that is a bevel gear 244. Therotation gear 244 is operably coupled to link gear 246, which is also abevel gear 246 according to one implementation. The link gear 246 isoperably coupled to the shoulder link 16A (discussed above) such thatrotation of the shaft 242 causes rotation of the rotation gear 244 andthereby the rotation of the link gear 246 and thus rotation of the link16A around axis B as best shown in FIG. 9D, also shown in FIG. 10 ataxis Z₂.

In this embodiment, these two axes of rotation are coupled. That is, ifsolely rotation around axis A (pure yaw) is desired, then the “pitchdrive train” (the pitch motor 230 and all coupled gears and componentsrequired to achieve rotation around axis B) must match the speed of the“yaw drive train” (the yaw motor 204 and all coupled gears andcomponents required to achieve rotation around axis A) such that thereis no relative angular displacement between the pitch housing 220 andthe rotation gear 244. In contrast, if solely rotation around axis B(pure pitch) is desired, then the yaw drive train must hold positionwhile the pitch drive train is actuated.

In one implementation as shown in FIG. 9A, the body 12 has a rigid-flexPCB 250 positioned in the body. The PCB 250 is operably coupled to andcontrols the motors 204, 230 and magnetic encoders (not shown). In oneimplementation, and as shown in FIGS. 8F, 9A and elsewhere the variousactuators or motors described herein have at least one temperaturesensor 248 disposed on the surface of the motor, for example bytemperature-sensitive epoxy, such that the temperature sensors 248 cancollect temperature information from each actuator for transmission tothe control unit, as discussed below. In one embodiment, any of themotors discussed and depicted herein can be brush or brushless motors.Further, the motors can be, for example, 6 mm, 8 mm, or 10 mm diametermotors. Alternatively, any known size that can be integrated into amedical device can be used. In a further alternative, the actuators canbe any known actuators used in medical devices to actuate movement oraction of a component. Examples of motors that could be used for themotors described herein include the EC 10 BLDC+GP10A Planetary Gearhead,EC 8 BLDC+GP8A Planetary Gearhead, or EC 6 BLDC+GP6A Planetary Gearhead,all of which are commercially available from Maxon Motors, located inFall River, Mass. There are many ways to actuate these motions, such aswith DC motors, AC motors, permanent magnet DC motors, brushless motors,pneumatics, cables to remote motors, hydraulics, and the like.

As also described herein, each link (body, upper arm, and forearm) canalso contain Printed Circuit Boards (PCBs) that have embedded sensor,amplification, and control electronics. For example, in certainimplementations, identical PCBs 168, 250, 290, 320, 328 are usedthroughout where each one controls two motors. One PCB is in eachforearm and upper arm and two PCBs are in the body. Each PCB also has afull 6 axis accelerometer-based Inertial Measurement Unit andtemperature sensors that can be used to monitor the temperature of themotors. Each joint can also have either an absolute position sensor oran incremental position sensor or both. In certain implementations, thesome joints contain both absolute position sensors (magnetic encoders)and incremental sensors (hall effect). Joints 5 & 6 only haveincremental sensors. These sensors are used for motor control. Thejoints could also contain many other types of sensors. A more detaileddescription of one possible method is included here.

FIG. 10 shows the robot motions. As shown in relation to FIG. 10, theshoulder joint 26 connects the upper arm 14A to the body 12. Shoulderyaw (θ₁ about Z₁), shoulder pitch (θ₂ about Z₂) and shoulder roll (θ₃about Z₃) may or may not have the three axes largely intersect so as toform a spherical-like joint. The elbow joint 14C (θ₄ about Z₄) connectsthe upper arm 14A to the forearm 14B. Then the tool can roll (θ₅ aboutZ₅). Finally, the tool itself (or end effector) has a motion that can beused to open and close the tool. The right arm 14 of this design is amirror image of the left 16. FIGS. 11A-14C, according to one embodiment,depict the internal components of the right arm 14. It is understoodthat the internal components in the left arm 16 are substantially thesame as those depicted and described herein and that the descriptionsprovided below apply equally to those components as well.

FIGS. 11A-F and 12A-D, according to one embodiment, depict the internalcomponents of the right upper arm 14A, which is shown in FIGS. 11A-E and12A-D without its housing 252. More specifically, these figures depictthe right arm 14A and the internal components therein. FIGS. 12A-Ddepict the internal components of the right upper arm 14A, includingactuators, drive components, and electronics, with the internalstructural or support components hidden in order to better display theinternal components. In contrast to FIGS. 12A-D, FIGS. 11A-F includeboth the internal actuator, drive, and electronics components, but alsothe internal structural or support components of the right upper arm14A.

In one embodiment, certain of the internal components depicted in FIGS.11A-F and 12A-D are configured to actuate rotation at the shoulder link26 around Z₃ as θ₃ (as best shown in FIG. 10), which is parallel to thelongitudinal axis of the right upper arm 14A. This rotation θ₃ is alsoreferred to as “shoulder roll.” The rotation, in one aspect, is createdas follows. An actuator 260 is provided that is, in this implementation,a motor assembly 260. The motor assembly 260 is operably coupled to themotor gear 262. The motor gear 262 is supported by a bearing pair 264.The motor gear 262 is coupled to the driven gear 266 such that rotationof the motor gear 262 causes rotation of the driven gear 266. The drivengear 266 is fixedly coupled to the shoulder link (not shown) such thatrotation of the driven gear 266 causes rotation of the upper arm 14Aaround axis Z₃ as shown in FIG. 10. The driven gear 266 is supported bya bearing pair 268. A magnet holder 270 containing a magnet is alsooperably coupled to the driven gear 266. The holder 270 and magnet areoperably coupled to a magnetic encoder, as has been previouslydescribed.

The rotation of the shoulder link 26 around axis Z₃ causes the rightupper arm 14A (and thus the forearm 14B) to rotate in relation to thebody 12. According to one embodiment, this rotation adds an additionaldegree of freedom not provided in prior two-armed surgical devices.

According to one implementation, certain of the internal componentsdepicted in FIGS. 11A-12D are configured to actuate rotation at theelbow link 14C around axis Z₄ (as best shown in FIG. 3C), which isperpendicular to the longitudinal axis of the right upper arm 14A. Thisrotation around axis Z₄ is also referred to as “elbow yaw.” Therotation, in one aspect, is created as follows. An actuator 272 isprovided that is, in this implementation, a motor assembly 272. Themotor assembly 272 is operably coupled to the motor gear 274, which is abeveled gear in this embodiment. The motor gear 274 is supported by abearing 276. The motor gear 274 is coupled to the driven gear 278 suchthat rotation of the motor gear 274 causes rotation of the driven gear278. The driven gear 278 is fixedly coupled to the elbow link 14C suchthat rotation of the driven gear 278 causes rotation of the elbow link14C around axis Z₄ as shown in FIG. 10. The driven gear 278 is supportedby a bearing pair 280. A magnet holder containing a magnet is alsooperably coupled to the elbow link 14C. The holder and magnet areoperably coupled to a magnetic encoder 282. According to one embodiment,the additional coupling of a link gear 284 and the elbow link 14C canprovide certain advantages, including an additional external reduction(because the gear 284 has fewer gear teeth than the elbow link 14C) andshortening of the upper arm 14A (thereby improving the joint range ofmotion). The gear 284 is coupled to another gear which has the magneticholder 282 on it. Additionally, this other gear (not shown) has atorsion spring attached to it, which functions as an anti-backlashdevice.

As shown in FIG. 12A-12B, the upper arm 14A can have at least onerigid-flex PCB 290 positioned therein. In one embodiment, the PCB 290 isoperably coupled to and controls the motors 260, 272 and magneticencoders (coupled to the holders 270). In these implementations, flextapes 292 can be used to communicate with the PCB 290, motors 260, 272and magnetic encoders, as would be appreciated by a skilled artisan.According to another embodiment, at least one connection component isassociated with the upper arm 14A. More specifically, in thisimplementation, a power/communication line and the cautery power lineenter through a port (not shown) at the proximal end of the upper arm14A and exit through a port (not shown) at the distal end, as has beenpreviously described.

As set forth below, each forearm 14B, 16B also has two electricallyisolated cautery circuits, enabling both bipolar and monopolar cauteryend effectors. Certain embodiments are configured to allow for easyremoval and replacement of an end effector (a “quick change”configuration). Further embodiments contain sealing elements that helpto prevent fluid ingress into the mechanism.

FIGS. 13A-G depict various embodiments of a right forearm 14B. FIGS.13B-G show the forearm 14B without its housing 254. The variousimplementations disclosed and depicted herein include the actuators,drive components, and electronics that can be used to accomplish bothtool roll and tool drive (open/close action), as will be described infurther detail below. As set forth below, the forearm 14B also has twoelectrically isolated cautery circuits, enabling both bipolar andmonopolar cautery end effectors. Certain embodiments are configured toallow for easy removal and replacement of an end effector 300 (a “quickchange” configuration). Further embodiments contain sealing elementsthat help to prevent fluid ingress into the mechanism. As shown in FIG.13B, a power and communications lumen 303 and cautery lumen 305 can beused to allow wires (not shown) to be routed from the body 12 to theforearm.

According to one implementation, certain of the internal componentsdepicted in FIGS. 13A-G and 14A-F are configured to actuate rotation atthe end effector 300 around axis Z₅ (as best shown in FIG. 10), which isparallel to the longitudinal axis of the right forearm 14B. Thisrotation around axis Z₅ is also referred to as “tool roll.”

The rotation, in one aspect, is created as follows. As best shown inFIG. 14B, an actuator 301 is provided that is, in this implementation, amotor assembly 301. The motor assembly 301 is operably coupled to themotor gear 302, which is a spur gear in this embodiment. The motor gear302 is coupled to the driven gear 304 such that rotation of the motorgear 302 causes rotation of the driven gear 304. The driven gear 304 isfixedly coupled to the roll hub 306, which is supported by a bearing308. The roll hub 306 is fixedly coupled to the tool base interface 310,which has an tool lumen 311 and external threads 310A which arethreadably coupled to the end effector 300. Thus, rotation of the drivengear 304 causes rotation of the roll hub 306, which causes rotation ofthe tool base interface 310, which causes rotation of the end effector300 around axis Z₅ as shown in FIG. 10.

In one embodiment, certain of the internal components depicted in FIGS.14A and 14C are configured to actuate the end effector to open andclose. This rotation of the end effector arms such that the end effectoropens and closes is also called “tool drive.” The actuation, in oneaspect, is created as follows. An actuator 312 is provided that is, inthis implementation, a motor assembly 312. The motor assembly 312 isoperably coupled to the motor gear 314, which is a spur gear in thisembodiment. The motor gear 314 is coupled to the driven gear 316 suchthat rotation of the motor gear 314 causes rotation of the driven gear316. The driven gear 316 is fixedly coupled to a female tool spline 318,which is supported by bearing pair 320. The female tool spline 318 isconfigured to interface with a male tool spline feature on the endeffector to open/close the tool as directed.

According to one implementation, the end effector 300 can be quickly andeasily coupled to and uncoupled from the forearm 14B in the followingfashion. With both the roll and drive axes fixed or held in position,the end effector 300 can be rotated, thereby coupling or uncoupling thethreads 310A. That is, if the end effector 300 is rotated in onedirection, the end effector 300 is coupled to the forearm 14B, and if itis rotated in the other direction, the end effector 300 is uncoupledfrom the forearm 14B.

Various implementations of the system 10 are also designed to deliverenergy to the end effectors 300 so as to cut and coagulate tissue duringsurgery. This is sometimes called cautery and can come in manyelectrical forms as well as thermal energy, ultrasonic energy, and RFenergy all of which are intended for this robot. Here electrosurgicalcautery is described as an example.

In accordance with one embodiment, and as shown in FIGS. 14D-F, theforearm 14B has two independent cautery channels (referred to herein as“channel A” and “channel B”), which enable the use of either bipolar ormonopolar cautery end effectors with this forearm 14B.

In these implementations, the channel A components are set forth in theforearm 14B as shown. A PCB 328 is electrically isolated from lead A 342and/or lead B 344 a cautery power line (such as discussed below) that iscoupled to an external power source. The PCB 328 is further electricallycoupled to at least one flex tape 330A, 330B which is in electroniccommunication with the motors 301, 312. As such, energizing lead A inthe cautery line 342 energizes channel A in the bipolar cautery endeffector 300.

As is shown in FIGS. 14E-F, in certain implementations the end effector300 is disposed within the forearm 14B in a rotor assembly 343A, 343Bsuch that the rotor contacts 341A, 341B and stator contacts or hoops345A, 345B are in electrical communication with the tool contacts 330,332. In these implementations, the cautery wire enters through a lumen305 in the back plate of the forearm (as shown in FIG. 13A). For abipolar forearm (which uses a pair of conductors), conductor A issoldered to tab A 342 on the stator hoop A. Conductor B is soldered totab B 344 on the stator hoop 345B. For the monopolar forearm, there isonly 1 conductor, so conductor A 342 is soldered to tab A 342 on thestator hoop 345A and the other stator hoop 345B has no connection.

In various implementations, the stator assembly 347 contains the twostator hoops 345A, 345B. The assembly 347 is fixed to the forearm 14Band does not move. The rotor assembly 343 contains two rotor rings 341A,341B. The rotor 343 is held concentric to the stator 347 through abearing assembly (not shown) and is free to rotate within the stator347. Each rotor ring 341A, 341B has a pair of leaf spring contacts (bestshown in FIG. 14F at 349A, 349B) which maintain electrical contact tothe stator rings 345A, 345B as would be the case for a slip ring.

In these implementations, the rotor rings 341A, 341B extend into therotor assembly, and the end effectors have a corresponding pair of toolcontacts 330, 332 disposed toward the proximal end. These tool contacts330, 332 contacts can also have leaf spring protrusions.

In use, when the end effector 300 is properly seated within the rotor343, the leaf spring protrusions of the end effector tool contacts 330,332 press against the internal circumference of the rotor rings 341A,341B, so as to form an electrical connection. Additionally, the rotorcan have as “arrow shaped” protrusions along its internal surface, tocreate a lead in, so it is self aligning when you install the tool,while the end effector can have matching cut outs. In theseimplementations, when the end effector is inserted the protrusions andcut outs mate, such that they form a torque transfer feature between theend effector and the rotor assembly. In this way, when the rotor spinsvia the roll motor, the end effector spins with it. Thus there is norelative motion between the rotor assembly and the end effector 300.

In one implementation, as shown in FIGS. 15A-B the forearm 14B can befitted with an insertable bi-polar cautery tool (300A in FIG. 15B), oran insertable mono-polar cautery tool (300B in FIG. 15A) designed forsingle or multiple use.

In these implementations, the end effector 300A, 300B has at least onefluidic seal interface that helps to prevent fluid ingress into theforearm 14B. One such mechanism is a single-piece housing 322 accordingto one embodiment. As best shown in FIG. 15A-B the housing 322 can havean O-ring 324 positioned in a groove defined in the housing 322.

In the specific embodiment of the bi-polar tool 300A of FIG. 15A, thereare two bronze contacts 330, 332 at the proximal end of the tool 330A.When inserted, these contacts 330, 332 interface with wipers that makean electrical connection between the robot and the tool 300A. As hasbeen previously described, for example in U.S. application Ser. No.14/212,686, which has been incorporated by reference in its entirety, awiper is a tensioned component that supported on one end by a mechanicalstrut. An insulating insert is positioned between the wiper and themechanical strut. At its free end, the wiper is supported by apreloader. Based on this configuration, the wiper is loaded or urged(like a leaf spring) against tool base interface and thus iselectrically coupled to the tool base interface. The tool base interfaceis mechanically coupled to the end effector 28A and electrically coupledto channel B of that end effector. In these implementations, the wipersand contacts 330, 332 are designed so that relative tool motion (toolroll or end effector roll) can occur while maintaining electricalcontact between the wiper and contact. These two independent contacts330, 332 are then connect to each of the jaws respectively, such as bysolid copper wires 334. The tools are kept electrically isolated fromone another using several techniques including a non-conductive divider336. The electrical energy is then delivered to the tissue held betweenthe two jaws 338A, 338B. In this implementation, a jaw guide 340 is alsoprovided.

In the specific embodiment of the bi-polar tool 300B of FIG. 15B, thereare two bronze contacts 330, 332 at the proximal end of the tool 330B.When inserted, these contacts 330, 332 interface with wipers that makean electrical connection between the robot and the tool 300B. Mono-polarenergy from the generator (described in relation to FIGS. 16A-B) flowsvia one electrical connection to the tool 300B so that potential energyexists at the tool tip 340. The energy then returns to the generatorthrough the surgical target via the return pad. The cables can containconnectors so as to simplify use and handling of the robot. This figureshows one additional feature in that the outgoing energy is transmittedthrough a shielded cable and the shield may or may not be connected tothe return path. Having the shield connected to the return pad can be asafety feature in that it prevents energy leakage to the patient. Hereleaked energy would be very likely to be collected by the shield andsafely returned to the generator.

Various implementations of the system have a monopolar cautery powerline 350 (as shown in FIG. 16A) and/or bipolar cauter power line 352 (asshown in FIG. 16B) in electrical communication with an at least oneexternal cautery generator 354 and the respective monopolar 300B andbipolar 300B end effectors. In the implementation of FIG. 16A, themonopolar cautery line 352 is a single coaxial cable 352 which also inelectrical communication with a return pad 356 for placement elsewhereon the patient's body. In these implementations, a shield 358A can beprovided around the central conductor 358. In various implementations,the shield 358A can extend the length of the central conductor 358 fromthe generator 354 into the body 12 so as to terminate distally (shown at358B) in the forearm 14B. In certain implementations, a shield tie 360is provided, which electrically ties the shield 358 to the return pad356 and/or electrical generator 354 to prevent radiation from escaping,as would be understood by the skilled artisan.

In the implementation of FIG. 16B, a bipolar power line 352 provideselectrical communication between the bipolar cautery lines 352A, 352Band the external cautery generator 354. In various implementations, themonopolar 350 and/or bipolar lines 352A, 352B can connect directly tothe body 12 or be connected by way of a “pigtail” 360A, 360B, 360C, ashas been previously described.

As shown in FIG. 17A, another fluidic seal can be provided according toanother embodiment in the form of a flexible membrane 400 (or “sleeve”)disposed on the exterior of the arms 14, 16. As shown in FIG. 17B, incertain implementations the membrane 400 is attached at the distal endend 402 to the forearm housing 14B, 16B. This membrane 400 serves toprovide a fluidic seal for the internal components of the arms 14, 16against any external fluids. In one implementation, the seal ismaintained whether the end effector 300 is coupled to the forearm 14B,16B or not.

It is understood that large or “bulky” membranes can interfere with theoperation of the camera component 18, particularly for membranes 400having a belt, as has been previously described. In variousimplementations, the presently disclosed membrane 400 addresses camerainterference. As discussed herein in relation to FIGS. 18A-C through22C, in certain implementations, the membrane 400 can be permanent,while in alternate implementations, and as shown in FIG. 23A-C, themembrane 400 can be disposable. Alternatively, the membrane 400 can bereplaced with a metallic bellows, as has been previously described.

In various implementations, the sleeves 400 can be fabricated by cuttinga pattern out of a thin film extrusion, such that a 2D pattern is cutout of a flat piece of plastic and the sleeve is then formed by bondingthe 2D pieces together, such as by ultrasonic welding. Alternatively,thermal bonding or adhesives may be used to create the sleeve. In yet afurther alternative, a molding process may be utilized to create thesesleeve, as has been previously described. This can include dip molding,injection molding, or other known molding options. It is understood thatthe permanent sleeves can be made of thicker plastic or other materialthan disposable sleeves to enhance durability.

As is shown in FIGS. 18A-C, in certain implementations, a permanentmembrane 400 is disposed over each of the arms 14, 16. In theseimplementations, the membrane has a rigid termination component 404 atthe distal end 402. In certain implementations, and as shown in FIG.18C, the termination component 404 can use an internal static seal 404Athat clips to snap into place and seal with the forearm housing 14B,16B. In alternate implementations, the membrane 400 can be bondeddirectly to the forearm housing 14B, 16B at the distal end 402 using UVcured bio-compatible epoxy. In yet further implementations, the distalend 402 can be attached to the forearm housing using mechanical capturebetween the forearm housing and forearm chassis sub-structure (as isdescribed at the proximal end in relation to FIGS. 19A-C)

Turning to the implementations of FIGS. 19A-C, at the proximal end 406,an O-ring assembly 408 can be used to “pinch” the membrane 400 into acorresponding groove 410 in the body 12. As is shown in FIG. 19C, inthese implementations, an outer body housing 412 can be provided overthe attached membrane 400. In alternate implementations, the membrane400 can be bonded directly at the proximal end 406 using UV curedbio-compatible epoxy.

In further implementations, and as shown in FIGS. 20A-20B, a flex-meshcomponent 414 can be used in conjunction with the membrane (not shown)to prevent “sleeve shear” in highly articulated elbow joints 14C. Inthese implementations, the mesh 414 ensures that the sleeve does notcollapse into the pinch zones created by the arm joints, such as theelbow 14C and shoulder (generally 26, 28).

In the implementations of FIGS. 21A-C, a semi-rigid slide guide 420 canbe used to prevent sleeve shear in the permanent membrane 400. In theseimplementations, the slide guide 420 extends the length of the membrane(not shown) so as to prevent the membrane from entering the spacebetween the joints of the arm (described above). In variousimplementations, the semi-rigid guide 420 can be made of thin teflon,delrin, or other flexible, low friction polymers.

In certain implementations, and as shown in FIGS. 21A-21C, thesemi-rigid guide 420 is fixed 421 at one location, either at the forearm14B as shown, or on the upper arm (not shown), so as to allow the guardto move linearly relative to the arm if necessary. In theimplementations of FIGS. 21A-21C, the semi-rigid guide 420 is disposedwithin a guide bushing 422 at the opposite end (here, the proximal end).It is understood that this allows the sliding of the guide as the robotarticulates, and creates a moving barrier to prevent the sleeve fromentering the pinch zones.

In the implementations of FIGS. 22A-C, sleeve geometry can be optimizedin a number of ways. Optimization can be achieved by accounting for therequired change in length of the sleeve as the arm goes from a straightto a bent configuration. Several different implementations can be used.As is shown in the implementations of FIGS. 22A-B, the sleeve 400 can befabricated such that excess material—which is required when the arm isbent—is stored/managed when the arm is straight FIG. 22A depicts asleeve 400 having an “outer box” pleat 430. FIG. 22B depicts an “innerbox” pleat 432. FIG. 22C depicts a “bent” sleeve 434 configuration.Alternatively, as is shown in FIG. 22C, by fabricating the sleeve with abent configuration 434 such that the bend corresponds to the robotselbow bent to the middle of its range of motion the sleeve was improvedto reduce the overall parasitic torque, that is the torque applied tothe robot by the sleeve during actuation. Additionally, theseimplementations can provide an improved “fit,” meaning having reducedbunching and/or stretching (as is shown, for example, in FIG. 23B), andcan be easier to clean. Each of these optimizations can also be appliedto disposable sleeves.

FIGS. 23A-C depict various implementations of disposable sleeves 436. Invarious implementations, the disposable sleeves 436 must be easy toinstall and form a barrier to bio-burden and fluids. In certaincircumstances, the sleeves 436 may be attached using integrated O-ringsthat snap into O-Ring grooves, as has been previously described. Thesleeves 436 may also be attached using integrated adhesive strips 437which attach it to the device 10. As shown in FIG. 23B, excessivebunching 436A can occur if the sleeves are not properly sized oroptimized. In various implementations, adhesive strips 437 may beoptimally located rotationally around the proximal termination section(such as at the waist of robot) to minimize material buildup in criticalzones, such as where the camera exits the lumen.

In use, FIGS. 24A-D depict the insertion and operation of the device 10,according to exemplary implementations. As has been previously describedand discussed further in relation to FIGS. 27A-C, these steps can beaccomplished while the device 10 is visualized, for example on aconsole, using a laparoscope 448 inserted into the abdominal cavity fromanother port.

As shown in FIG. 24A, during insertion, the device 10 is first heldabove a gel port 450 that allows for the abdominal cavity to remaininsulated while the gel port 450 seals around the irregular shape of thedevice 10. As shown in FIG. 24B, the device 10 is then is insertedthough the gel port 450. The elbows 14C, 16C can then be bent toaccommodate further insertion. The device 10 can then be insertedfurther until the arms 14, 16 are substantially within the abdominalcavity, as best shown in FIG. 24C. This then allows the device 10 to berotated and moved to the desired position for surgery, as shown in FIG.24D.

FIGS. 25A-B depicts a gel port 450, according to one implementation. Inthe embodiment of FIG. 25A, the gel port 450 has first 452 and second454 openings, or “slits.” In certain implementations, the passage of thedevice 10 into the gel port 450 causes splaying of the arms 14, 16,which can result in patient injury. In these implementations, the slits452, 454 facilitate the retention of the device 10 in an uprightorientation. In certain of these implementations, the gel port 450 has apair of semi-rigid corals 456A, 456B configured to urge the arms 14, 16centrally and prevent splaying during insertion.

As shown in FIG. 25C, In certain implementations the robotic device 10is clamped to (or otherwise coupled to) the distal end of the robotsupport arm 470. The proximal end of the support arm 470 is clamped orotherwise coupled to a standard support strut on the operating table. Inthis embodiment, the support arm 470 has 6 degrees of freedom, which aremanually released by a single knob. In use, the user can release thesupport arm 470 by loosening the knob, move the robotic device 10 to asuitable position, then tighten the knob, thereby rigidizing the arm 470and fixing the robotic device 10 in place. One example of acommercially-available support arm 470 is the Iron Intern™, made byAutomated Medical Products Corp.

In use, according to one embodiment as shown in FIG. 26A, the system 500can operate in the following fashion. A user—typically asurgeon—positions herself at the surgeon console 502. As discussed infurther detail below, the console 502 can have a visual display 510, atouch screen 514 and input components such as foot input devices (alsocalled “foot controllers”) 512, and hand input devices (also called“hand controllers”) 518. The user can operate the system 500 byoperating the hand controllers 518 with her hands, the foot controllers512 with her feet, and the touch screen (also referred to herein as the“graphical user interface” or “GUI”) 514 with her hands, while using thevisual display 510 to view feedback from the camera 18 relating to therobot 10 positioned in the target cavity of the patient. The console 502is coupled to the robot 10 and its components in three different ways inthis embodiment. That is, the console 502 is coupled directly to therobot 10 itself via the cable 502 that carries both power andcommunications between the console 502 and the robot 10. Further, theconsole 502 is also coupled to the camera 18 on the robot 10 via thecable 504 that carries both power and communications between the console502 and the camera 18. In addition, the console 502 is also coupled tothe cautery end effectors 300A, 300B on the robot 10 via the cable 506that carries power and communications between the console 502 and thecautery end effectors 300A, 300B (as discussed above in relation toFIGS. 16A-B). In other implementations, the console 502 can be coupledto the robot 10 via other connection components and/or via other robotcomponents.

According to one embodiment as best shown in FIGS. 26B-26E, the console502 allows the user to control the robotic device 10 using the handcontrollers 518 and/or foot controllers 512. The hand controllers 518and the foot controllers 512 can be used to control the arms and othercomponents and functions of the robotic device 10. In variousimplementations, the device 10 is controlled by using the handcontrollers 518 and/or foot controllers 512 to cause the device 10 tomove in the same way as the hand controllers 518 and/or foot controllers512 are moved. More specifically, for example, the right hand controller518 can be used to actuate the right arm of the robotic device 10 suchthat the movement of the hand controller 518 causes the right arm of thedevice 10 to replicate or simulate the same motion. For example, if theright hand controller 518 is extended outward away from the user, theright arm of the device 10 is actuated to extend outward away fromdevice 10 in the same direction. The left hand controller 518 and leftarm of the robotic device 10 can operate in a similar fashion. Thisvirtual connection and interaction between the console 502 and therobotic device 10 can be called a tele-operation (or “tele-op”) mode.

One embodiment of an exemplary GUI 530 is depicted in FIGS. 27A-C. Inthis implementation, various buttons 520 are provided which can be usedto control the insertion, retraction, and operation of the device 10.More specifically, as shown in FIG. 27B of this embodiment, the user canselect the specific operational page to be displayed on the GUI 530. Ifthe user selects the “Insert” button as shown in FIG. 27B, then theinsertion page is displayed as shown in FIG. 27A. Thus, the GUI 530 canprovide the user with the ability to control settings and functions ofthe robotic surgical system. In various implementations, the touchscreen can include settings for motion scaling, camera position, andindicators that show robot modes (cautery state, GUI state, etc) and thelike. Further, in the tele-op mode as shown in FIG. 27A, the display 530can depict a real-time robot animation (generally at 10) that displaysthe current configuration of the device 10, including the specificpositions of the arms of the device 10.

In certain embodiments, the virtual connection between the console 502and device 10 as described above can be interrupted using a “clutch.” Inone specific implementation, the clutch can be activated using a button520 on the GUI 530. Alternatively, the user can activate the clutch bydepressing one of the foot pedals 512. The clutch is activated to breakthe virtual connection described above, thereby disconnecting the device10 from the console 502 such that the device 10 and its components entera “frozen” or “paused” state in which the components of the device 10remain in the last position the components were in when the clutch wasactivated and until the clutch is deactivated. This clutch feature canbe utilized for several different reasons. For example, the clutchfeature can be used in an emergency pausing situation in which thedevice 10 components are moving toward a position which one or more ofthe components might damage the internal tissues of the patient and theclutch activation prevents that. In another example, the clutch featurecan be used to reset the virtual connection in the same way that acomputer mouse is lifted off the mousepad to reset the connectionbetween the mouse and the cursor on the computer screen. In other words,the clutch feature can be used to reposition the hand controllers to amore desirable position while pausing the device 10.

Certain system embodiments disclosed or contemplated herein can alsohave hand controllers (such as controllers 518 discussed above) thatfeature haptic feedback. That is, the hand controllers (such ascontrollers 518) have haptic input devices, which are made up of motorsoperably coupled to the hand controllers such that the motors can beactuated to apply force to the controllers (such as controllers 518),thereby applying force to the user's hands that are grasping thecontrollers. This force applied to the user's hands that is created bythe haptic input devices is called haptic feedback and is intended toprovide information to the user. For example, one use of haptic feedbackis to indicate to the user a collision between the robotic arms. Inanother example, the haptic feedback is used to indicate to the userthat the robotic device or one of its components (such as one of thearms) is approaching or has reached its reachable or dexterousworkspace.

FIGS. 28A and 28B provide a schematic representation of haptic feedbackrelating to the dexterous workspace of a robotic arm according to aspecific embodiment. More specifically, FIG. 28A represents atwo-dimensional “slice” of the workspace 600 of one arm of a roboticdevice of any system embodiment herein. That is, the image is arepresentation of the range of motion 600 of the distal end of therobotic arm in two dimensions (the x and y directions) such that itdepicts all of the area 600 that the end effector of the robotic arm canreach when the arm can move in those two dimensions and the device bodyis kept motionless. As is shown in FIG. 28C, this workspace 602 can beextended into three dimensions, as the device 10 is capable of operatingin the z-direction as well).

In these implementations, and as best shown in FIG. 28A, the fullreachable workspace 600 is made up of both the exterior portion 602 andthe interior portion 604 of the workspace 600. The interior portion 604is the operational workspace 604 of the robotic arm. That is, it is theworkspace 604 in which the arm is functional and operates optimally. Theouter portion 602 is the undesirable or non-optimal workspace 602 of therobotic arm.

In this specific embodiment as best shown in FIG. 28B, the system hasbeen configured to provide haptic feedback as the end effector of thearm reaches the outer points of the workspace 600. More specifically,the system, or a software component thereof, defines the haptic boundary604 as the operational workspace 604. When the user moves the roboticarm such that the end effector is inside the haptic boundary 604, thehaptic input devices apply no force to the hand controllers, therebyindicating to the user that the robotic arm is in the operationalworkspace 604. If the end effector of the arm moves outside of thehaptic boundary 604 and into the non-optimal workspace 602, the hapticinput devices provide force that urges the hand controller, and thus therobotic arm, back toward the closest point on the haptic boundary. Inone embodiment, the force applied at the hand controller is proportionalto the distance from the haptic boundary such that it feels to the userlike a virtual spring is pushing the user's hand (and thus the roboticarm) back inside the boundary 604. Alternatively, it is understood thatother models for forces can be created other than proportional distance.

Once possible use of the system is shown in FIG. 28D. In thisimplementation, the user can operate the hand controllers 518 (as shownin FIGS. 226A-E) in translation (box 620) and/or orientation (box 622)modes through a variety of steps. In certain implementations,controllers have seven degrees of haptic feedback relating to theposition of the device in the surgical theater. Here, translation moderefers to x-, y-, and z-haptics, while the orientation mode refers toroll, pitch and yaw feedback, and the trigger operation can account fora seventh degree. In certain implementations, it is desirable to lockcertain of these feedback movements—such as orientation—while leavingothers—such as translation—free to be moved relative to the console.This selective locking allows for gross re-positioning of the user'shands and controllers without causing a corresponding movement of thedevice 10 within the surgical theater.

For example, the user can enter tele-op mode (box 630) such that thehaptic input devices (described in detail in relation to FIGS. 26A-27C)are aligned to their center (0, 0, 0) regardless of the position of thedevice (box 632), while the orientation vectors (box 634) are alignedwith the orientation of the device arms 14, 16 with respect to yaw,pitch and roll.

In tele-op mode, these positions are set (boxes 632 and 634), such anymovements of the controllers will directly correspond with the movementof the device 10, and any force applied to the device 10 will cause acorresponding force to be applied back to the user through thecontrollers. However, in certain situations, the user may desire tore-orient the hand controllers relative to the console without causing acorresponding change in the movement of the device.

When the system is paused (box 636) the system is “locked” (boxes 638and 640), such that the hand controllers 518 are locked in place. Nomovement or commands to the device 10 are being sent, such that thedevice 10 holds position regardless of what the user does to the handcontrollers, meaning that even if the user overpowers the haptic locksand moves the hand controllers, the robot will not move.

In further implementations, to move the controllers independently, theuser can engage the clutch (box 642) so as to disengage the translationof the controllers only (box 644) while the device arms 14, 16 andcontrollers maintain a fixed orientation (box 646). When the clutch 512is disengaged (box 648) the robot and hand controllers are thenvirtually re-connected, so as to again fix translation and orientationbetween the controllers and device.

In these implementations, the workspace can be defined (box 650) whenthe device 10 is positioned. As discussed above, the translationalmovement of the arms and controllers is limited by the workspace boundry(box 650), and the orientation movements are aligned with a valid vector(box 652) to ensure safety and precision.

In certain implementations, the haptic lock can be also interrupted byother functions such as “camera clutch” (box 654), where the two handcontrollers can move together. In these implementations, it may benecessary to re-orient the hand controllers and/or device arms relativeto the position and/or orientation of the camera. That is, as would beunderstood, because the camera is capable of pan and tilt functions, thecamera has a specific frame of reference with regard to the workspaceand device 10. In certain implementations, the console depicts thisframe of reference, and the translation and/or orientation of the armsand controllers are fixed relative to the camera orientation. When thecamera is moved, it may be necessary to re-orient the controllers and/orarms relative to the second camera frame of reference, which can bedesignated by a. Accordingly, it is possible to urge the hand controlsin various directions (such as horizontally relative to the ground), butcause a corresponding vertical motion of the robot arms, incircumstances where the device and camera are pointed straight down.Other versions of this workflow are possible.

FIGS. 29A-D show another possible use of haptic feedback in the forcedimension workspace 600. In these implementations, themotion—translation and/or orientation—of the hand controllers havecertain limits. In certain embodiments, and as shown in FIGS. 29A-C, thehaptic feedback system described above can be used to indicate to theuser that the hand controllers have been moved to a limit 602 of theirmotion. Here another virtual spring could be implemented, or a visualalert, or audible alert, or vibratory alert could be provided.

FIGS. 30A-B show an operator detection system 700, which can beoperationally integrated with any of the preceding embodiments as partof the user input device or controller 701. In these implementations,the operator detection system 700 is configured to detect the presenceof the user 702 so as to prevent unintended motion of the device 10. Oneimplementation is to use a mechanical switch 704 that is engaged as theuser 702 inserts his/her hands 702 into contact with the user inputdevice 701 and/or applies pressure to the controller sides 706, 708.Various implementations can also take the form of a capacitive sensor, apressure sensor, and optical sensor, an optical beam break sensor, ormany other forms. In various alternate implementations, the operatordetection system 700 can utilize voice activation and/or a visionsystem.

The various embodiments are disclosed in additional detail in theattached figures, which include some written description therein.

Further, according to certain embodiments, a device as shown anddescribed in the attached figures is inserted into the patient using thefollowing procedure.

First, an incision is made through the abdominal wall using standardtechniques. In this embodiment an incision of length 2.5″ is required tocreate a suitable orifice for the system to pass through.

Next, a retractor is placed in the incision. In this embodiment, anApplied Medical Alexis Wound Retractor(http://www.appliedmedical.com/Products/Alexis.aspx) is utilized. Itconsists of a thin walled (<0.005″) flexible tubular membrane with rigidring shaped end caps. Once the distal ring is inserted into the patient,the proximal ring is rolled to take up the excess slack in tube and pullthe wound open.

Then, a port is placed on the retractor. In this embodiment, a modifiedApplied Medical Gel port(http://www.appliedmedical.com/Products/Gelport.aspx) is utilized. Theport is capable of maintain a pressure differential such thatinsufflation of the abdominal cavity may be achieved. The port iscapable of having items (ie robot) plunged through it while maintainingthis pressure differential/gas seal. This port consists of a rigid ringwhich mechanically clamps to the external rigid ring of the retractor.This clamp is capable of sealing to the ring, preserving insufflationpressure. The port further consists of a pair of circular gel membranes.Each membrane is ˜0.75″ thick. Each membrane has a slit through it. Theslit has length of ˜50% of the membrane diameter. When assembled, theslit of membrane 1 is rotated 90 degrees with respect to the slit ofmembrane 2. Due to the gel/conforming nature of the membranes, a seal ismaintained against oddly shaped objects as they pass through the slitsof the membranes and into the abdominal cavity.

According to one alternative embodiment relating to the port, a latticeof non-elastic cords is embedded in the membranes, mitigatingdoming/blowout as a result of the internal pressure. In a furtheralternative, a thin film of a rigid/puncture resistant polymer wasdeposited at the interface of membrane 1 and 2. The purpose of thispolymer is to prevent the end effectors of the robot from puncturingmembrane 2 after it passes through the slit in membrane 1.

Once the retractor and gel port are in place, the robot may be insertedinto the patient.

Next, a camera (a robot camera as disclosed in the attached figures oran auxiliary camera) is inserted through an auxiliary port to view theinsertion.

Next, the insertion/extraction mode of the robot is activated from theGUI.

After that, the robot and/or system determines a path from its currentstate to its insertion pose (arms straight down), and the operator stepsthrough this path to achieve the required pose.

Subsequently, the operator inserts the robot into the patient (throughthe gel port and through the retractor port) until the elbow joints ofthe robot clear the interior surface of the abdominal wall.

After that, the operator steps through the insertion path until theelbows reach their end point (90 degrees). The operator then furtherinserts the robot into the patient until the shoulder joints clear theinterior surface of the abdominal wall. The operator continues to stepthrough the insertion path until the robot achieves its “ready” pose(arms in a nominal operating position), at which point, the surgicalprocedure can proceed.

When the procedure is complete, device extraction follows the abovesequence in reverse.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. A robotic surgical system, comprising: (a) arobotic surgical device comprising: (i) a device body comprising: (A) adistal end; (B) a proximal end, and (C) a camera lumen defined withinthe device body, the camera lumen comprising: (1) a proximal lumenopening in the proximal end of the device body; (2) a socket portiondefined distally of the proximal lumen opening, the socket portioncomprising a first diameter and a first coupling component; (3) anextended portion defined distally of the socket portion, the extendedportion having a second, smaller diameter; and (4) a distal lumenopening in the distal end of the device body, the distal lumen openingdefined at a distal end of the extended portion; (ii) first and secondshoulder joints operably coupled to the distal end of the device body;(iii) a first robotic arm operably coupled to the first shoulder joint;and (iv) a second robotic arm operably coupled to the second shoulderjoint; and (b) a camera component, comprising: (i) a handle comprising:(A) a distal end configured to be positionable within the socketportion; (B) a second coupling component configured to releasably couplewith the first coupling component, thereby releasably locking the handleinto the socket portion; (ii) an elongate tube operably coupled to thehandle, wherein the elongate tube is configured and sized to bepositionable through the extended portion, the elongate tube comprising:(A) a rigid section; (B) an optical section; and (C) a flexible sectionoperably coupling the optical section to the rigid section, wherein theelongate tube has a length such that at least the optical section isconfigured to extend distally from the distal lumen opening when thecamera component is positioned through the camera lumen.
 2. The roboticsurgical system of claim 1, wherein the camera lumen further comprises aseal portion defined distally of the socket portion and proximally ofthe extended portion.
 3. The robotic surgical system of claim 2, whereinthe seal section is configured to receive a ring seal and a one-wayseal.
 4. The robotic surgical system of claim 3, wherein the sealsection is further configured to receive a retention component, whereinthe ring seal is retained within the ring-seal retention component. 5.The robotic surgical system of claim 4, wherein the ring-seal retentioncomponent comprises at least one protrusion extending from an outer wallof the ring-seal retention component.
 6. The robotic surgical system ofclaim 5, wherein the socket portion further comprises a channel definedin an inner wall of the socket portion, wherein the channel isconfigured to receive the at least one protrusion.
 7. The roboticsurgical system of claim 1, wherein the handle comprises a controllerconfigured to operate the camera component.
 8. The robotic surgicalsystem of claim 1, wherein the distal lumen opening is positionedbetween the first and second shoulder joints.
 9. The robotic surgicalsystem of claim 1, wherein the optical section is configured to betiltable at the flexible section in relation to the rigid section,wherein the optical section has a straight configuration and a tiltedconfiguration.
 10. The robotic surgical system of claim 1, wherein theelongate tube is configured to be rotatable in relation to the handle.11. The robotic surgical system of claim 1, wherein the socket portionfurther comprises an inner wall comprising a channel configured toreceive an insertion device.
 12. A robotic surgical system, comprising:(a) a robotic surgical device comprising: (i) a device body comprising:(A) a distal end; (B) a proximal end, and (C) a camera lumen definedwithin the device body; (ii) first and second shoulder joints operablycoupled to the distal end of the device body; (iii) a first robotic armoperably coupled to the first shoulder joint; and (iv) a second roboticarm operably coupled to the second shoulder joint; and (b) a cameracomponent, comprising: (i) a handle comprising: (A) a distal endconfigured to be positionable within the socket portion; (B) a secondcoupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion; (ii) an elongate tube operably coupled to the handle,wherein the elongate tube is configured and sized to be positionablethrough the extended portion, the elongate tube comprising: (A) a rigidsection; (B) an optical section; and (C) a flexible section operablycoupling the optical section to the rigid section, wherein the elongatetube has a length such that at least the optical section is configuredto extend distally from the distal lumen opening when the cameracomponent is positioned through the camera lumen.
 13. The roboticsurgical system of claim 12, wherein the camera lumen comprises: (a) aproximal lumen opening in the proximal end of the device body; (b) asocket portion defined distally of the proximal lumen opening, thesocket portion comprising a first diameter and a first couplingcomponent; (c) an extended portion defined distally of the socketportion, the extended portion having a second, smaller diameter; and (d)a distal lumen opening in the distal end of the device body, the distallumen opening defined at a distal end of the extended portion.
 14. Therobotic surgical system of claim 12, wherein the first robotic armfurther comprises: (a) a first arm upper arm; (b) a first arm elbowjoint; and (c) a first arm lower arm, wherein the first arm upper arm isconfigured to be capable of roll, pitch and yaw relative to the firstshoulder joint and the first arm lower arm is configured to be capableof yaw relative to the first arm upper arm by way of the first arm elbowjoint.
 15. The surgical robotic system of claim 14, wherein the firstrobotic arm further comprises at least one first arm actuator disposedwithin the first robotic arm.
 16. The robotic surgical system of claim14, wherein the second robotic arm further comprises: (a) a second armupper arm; (b) a second arm elbow joint; and (c) a second arm lower arm,wherein the second arm upper arm is configured to be capable of roll,pitch and yaw relative to the second shoulder joint and the second armlower arm is configured to be capable of yaw relative to the second armupper arm by way of the second arm elbow joint.
 17. The surgical roboticsystem of claim 16, wherein the second robotic arm further comprises atleast one second arm actuator disposed within the second robotic arm.18. A robotic surgical system, comprising: (a) a robotic surgical devicecomprising: (i) a device body comprising: (A) a distal end; (B) aproximal end, and (C) a camera lumen defined within the device body, thecamera lumen comprising: (1) a proximal lumen opening in the proximalend of the device body; (2) a socket portion defined distally of theproximal lumen opening, the socket portion comprising a first diameterand a first coupling component; (3) an extended portion defined distallyof the socket portion, the extended portion having a second, smallerdiameter; and (4) a distal lumen opening in the distal end of the devicebody, the distal lumen opening defined at a distal end of the extendedportion; (ii) first and second shoulder joints operably coupled to thedistal end of the device body; (iii) a first robotic arm operablycoupled to the first shoulder joint; and (iv) a second robotic armoperably coupled to the second shoulder joint; and (b) a cameracomponent, comprising an elongate tube operably coupled to the handle,wherein the elongate tube is configured and sized to be positionablethrough the extended portion, the elongate tube comprising: (A) a rigidsection; (B) an optical section; and (C) a flexible section operablycoupling the optical section to the rigid section, wherein the elongatetube has a length such that at least the optical section is configuredto extend distally from the distal lumen opening when the cameracomponent is positioned through the camera lumen.
 19. The surgicalrobotic system of claim 18, comprising a handle comprising: (a) a distalend configured to be positionable within the socket portion; and (b) asecond coupling component configured to releasably couple with the firstcoupling component, thereby releasably locking the handle into thesocket portion.
 20. The surgical robotic system of claim 18, furthercomprising at least one PCB disposed within at least one of the first orsecond robotic arms and in operational communication with at least oneof the first robotic arm and second robotic arm, wherein the PCB isconfigured to perform yaw and pitch functions.